【摘要】 针对目前采用转速或转矩控制模式实现电子差速所存在的问题,提出了一种基于差动驱动的电子差速控制方法,从整车动力学层面上设计了基于滑模控制理论的横摆运动控制模块;在充分考虑轮胎摩擦椭圆和执行机构物理限制的基础上,设计了差动驱动控制模块和滑转率控制模块。研究结果表明,该电子差速控制策略简单有效,不但能保证每个驱动轮都有很好的附着特性,而且能进一步提高汽车的操纵稳定性和安全性。更多还原

【Abstract】 Aiming at solving the problem that exists in the electric differential using speed or torque control mode,an electric differential control strategy based on differential driving was presented,and a yaw motion control module on the whole vehicle dynamic level based on sliding mode control theory was designed.By considering the limitations of the tire friction ellipse and actuator,the differential driving control module and the slip ratio control module were designed.The results indicate that the electric differential control strategy can not only ensure good adhesion properties between driving wheels and road,but also improve the handling characteristics and driving safety.更多还原