为全轮独立电驱动车辆提出一种双重转向的控制策略,设计了双重转向的总体控制结构.它是包括三自由度参考车辆模型、横摆力矩确定层和转矩分配层的分层控制体系.在横摆力矩确定层中,设计了基于PID的横摆力矩控制策略;在转矩分配层中,设计了基于纵向驱动力总和不变的转矩分配策略.在此基础上,开发了双重转向控制策略仿真平台,进行了仿真分析和实车试验,试验结果与仿真结果吻合度较高,表明所提出的双重转向控制策略对减小车辆转向半径有明显效果.%A dual-steering control strategy is proposed for an all-wheel independent drive electric vehicle, and an overall control architecture for dual steering is designed. It is a layered control system consisting of a 3 DOF vehicle model, a yaw moment determining layer and a torque distribution layer. In yaw moment determining layer, a PID-based yaw moment control strategy is designed, and in torque distribution layer, torque distribution strategy is incorporated with the sum of longitudinal driving force remaining constant. On this basis, a simulation platform for dual-steering control strategy is developed, and a simulation and a real vehicle test are conducted. The simulation results well agree with test data, indicating that dual-steering control strategy proposed has obvious effect on reducing the turn radius of vehicle.
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