In order to improve ease of steering of the 4-Wheel Independent Driving (4WID) electric vehicle, the steering wheel moment distribution was investigated with fuzzy control method. The steering and power-assisted steering process were analyzed and calibrated, and the front wheel steering moment distribution fuzzy controller was designed with the steering angle and steering angle change rate as input language, and left/right steering wheel moment difference as output language. This method is verified by the twisted pair real vehicle test, which shows that steering wheel moment and slip rate are effectively controlled during steering, and steering wheel moment is reduced, and the effect of the power-assisted steering is realized.%为了提高四轮独立驱动(4WID)电动车的转向轻便性,采用模糊控制方法对转向轮的力矩分配进行研究.通过对4WID电动车的转向和助力过程进行分析和标定,设计了以转向盘转角和转角变化率作为输入语言,左、右转向轮力矩差作为输出语言的前轮转向力矩分配模糊控制器,并利用双纽线实车试验对该方法进行验证.结果表明,车辆转向时转向轮力矩和滑动率得到有效控制,转向盘转矩减小,达到了助力转向的效果.
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