Abstract: Differential control strategies of in-wheel motor bus were researched. Calculation method about drive motor current with the corresponding wheel speed was deduced, when the motor was in constant torque. Speed coordination of the left and right wheels individually control method was proposed, which was fuzzy PID control based on slip rate. Fuzzy PID controller was designed, and the slip rate calculation method of the left and right drive wheel was deduced during differential condition; finally, the Matlab/Simulink control model system was built. Slip rate changing curve of the inner and outer drive wheel was simulated in differential condition. The proposed control system responses rapidly. Both the inner and outer drive wheel slip rate tends to be an ideal value. The simulation results are consistent with the theoretical ones.

Key words: vehicle engineering, electric drive axle, differential, fuzzy control, PID control

摘要： 研究了轮毂式电驱动桥大客车的差速控制策略,推导了恒转矩下驱动电机的驱动电流和对应驱动轮纵向速度的计算方法，提出了基于滑转率的模糊PID控制方法对电驱动桥大客车左右车轮单独转速协调控制，设计了模糊PID控制器，推导了差速时左右侧驱动轮滑转率计算方法，建立了控制系统的MATLAB/Simulink系统模型。仿真分析差速时车辆内外侧车轮滑转率变化曲线，该控制系统相应时间快,内外侧车轮滑转率均趋于理想值,与理论分析一致。

关键词: 车辆工程, 电驱动桥, 差速, 模糊控制, PID控制