关键词: 车辆工程, 电子差速, 轮毂电机驱动, 多轴车辆, 动力学仿真

Abstract: Aiming at the problem that the electronic differential control of electric wheel driven vehicle cant adapt to any driving conditions and the higher requirements of motor performance at this stage, a self-adaptive electronic differential control was carried out. The wheel-hub motor was controlled by torque command and speed follow-up, so that the wheel could realize differential speed according to its stress state. At the same time, the modeling method of multi-axis wheel-hub motor driven vehicle dynamics was introduced. On the basis, the overall control strategy was introduced to simulate the power distribution characteristics of the traditional vehicle from the power system to the differential. The difference between the drivers expected speed and the feedback actual speed was input into the PID controller to output the target torque of each motor. Finally, the differential evaluation method was proposed, and the off-line simulation and HIL test were carried out for the three main conditions of differential problems. The results show the proposed self-adaptive electronic differential control can control the theoretical and actual driving distance error of the wheel less than 0.5%, which verifies the correctness of the electronic differential control strategy and the high control accuracy.

Key words: vehicle engineering, electronic differential, wheel-hub motor driven, multi-axle vehicles, dynamic simulation