Electronic Differential Speed Steering Control for Four In-Wheel Motors Independent Drive Vehicle

This paper studies all-wheel steering control strategy of electronic differential speed for four in-wheel motors independent drive vehicle. On the basis of kinematics of steering, a dynamics model of three degrees-of-freedom steering is established, and a control system of electronic differential speed for four in-wheel motors independent drive is constructed. A comprehensive control strategy of speed and torque based on neural networks PID electronic differential is proposed to calculate objected speed of four wheels. Four PID controllers are used to coordinately achieve torque distribution on four in-wheel motors and realize electronic differential speed steering. The simulation results with different reference steering angle and velocity indicate that the strategy can improve the steering maneuvering and stability of vehicle in a low speed.