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391()Vol.39No.120091JournalofJilinUniversity(EngineeringandTechnologyEdition)Jan.2009:2008201205.:863(2006AA11A129);985(20080213).:(19522),,,.:.E2mail:wqn@jlu.edu.cn.:(19812),,.:.E2mail:anian8169@163.com1,1,1,1,2(1.,130022;2.,130117):,MatlabSimulink,,:,,,,:;;;;;:U469.72:A:167125497(2009)0120001206DifferentialassistedsteeringappliedonelectricvehiclewithelectricmotoredwheelsWANGQing2nian1,WANGJun2nian1,JINLi2qiang1,HUChang2jian1,ZHANGXiang2zhong2(1.CollegeofAutomotiveEngineering,JilinUniversity,Changchun130022,China;2.DepartmentofFundamentalCourses,InsituteofArmedVehicleTechnology,Changchun130117,China)Abstract:Anovelpowerassistedsteeringsystemwasproposedfortheelectricvehicle(EV)withelectricmotoredwheelswhichfeaturestheindependentdrivingofindividualwheel.Withfocusonthedifferentialassistedsteering(DAS)system,itsworkingprincipleswereintroducedanditsfeasibilitywasdiscussed.AdynamicsmodelforthevehicleincludingthesteeringsystemwasbuiltbasedonMatlab/Simulink.Thecharacteristiccurveofthetargettorquedistributionandthecontrolalgorithmforthetorqueoutputofleftandrightsteeringwheelswerepresentedandsimulated.TheresultsshowthattheproposedDASsystemmeetsthedemandsoftheEVwithelectricmotoredwheelsonthesteeringmaneuverabilityandtheroadfeelduringdriving.So,itmaybeappliedonthe42wheelindependentmotoredEVonconditionthatthetraditionalmechanicalstructureofthesteeringsystemismaintained.TheproposedDASsystemenhancestheperformanceofthewholeEVwithmotoredwheelsandischaracterizedbyreducedcostandcomplexity.Keywords:vehicleengineering;electricvehicles(EV);differentialassistedsteering;simulationanalysis;electric2motoredwheel;differentialtorque()39,,,,,,,,,,,,,,,,,,,11.11,,1Fig.1SchematicdiagramandconfigurationofDASsystem,,CANECU,ECU[1]1.2,,,[2],,,,,,,,1,r,Tst1=Ft1r(1)Tst3=Ft3r(2)Tst=Tst1-Tst3=(Ft1-Ft3)r(3)T1T3,,Tst=(T1-T3)rrw=Trrw(4):T,;rw2,,,,,21,:,,,,[223],,,,:|||TSW|(2(a)),|T|v(2(b)),12(c)2Fig.2AssistedcharacteristicofDAS2,,[1]:(1),,|TSW0|=1Nm(2),|TSWmax|=7Nm(3)|T|TPK=f3G3fp|T|maxrrw=TPK-TSWi(5):f,0.8;Gf,N;p,Pa;i(4),33.13.1.11,,3[425],JCSW+BCSW+KCSW-YRrP=TSW(6)MRYR+BRYR+FKCrPYRrP-SW+CFR+BTKL1NL1+TKL3NL3=0(7)JFW1FW1+BFW1FW1+CFFW1+AT1=TKL1(8)JFW3FW3+BFW3FW3+CFFW3+AT3=TKL3(9)TKL1=KSL1YRNL1-FW1(10)TKL3=KSL3YRNL3-FW3(11)TSC=KCSW-YRrP(12):JC;BC;KC;SW;TSW;TSC;MR;BR;YR;rP;FB;CFR;TKL1TKL3;KSL1KSL3;NL1NL3;JFW1JFW3;BFW1BFW3;FW1FW3;CFFW1CFFW3;AT1AT33.1.23()39MF2Tyre;:Msy=Fsrwsincos(13)Msx=Ftrcoscos(14)Mzz=Mzcoscos(15)Msz=FzcossinsinFWcos(r+rwtan)(16):Fs;Ft;Fz;Mz;;;FW,1Nm;[2]CFFW=(VPsign(FW)-CFFW)(1-e-|FW-FW|/VD)+CFFW(17):CFFW;VPVD;FW3.1.3,,,,:122s2+2s+13.233Fig.3BlockdiagramofcontrolstrategyofDASsystem,vTSC,TSCvTzl,PID,,,;,,[1]Gc(s)=9Ts+1Ts+1,19159,SC0,PID,,[6]44.117,,124.2,1Table1ParametersofwholevehicleMt/kg1483ZIzz/(kgm2)1810XIxx/(kgm2)347YIyy/(kgm2)1676Iw/(kgm2)1.85Id/(kgm2)0.12B/m1.438Lf/m1.225Lr/m1.437H0/m0.49rw/m0.285p/MPa0.2341,:2Table2ParametersofsteeringsystemJC/(kgm2)0.029BC/(Nmsrad-1)0.023KC/(Nmrad-1)139.82rP/m0.0088MR/kg2.57BR/(Nmsm-1)8Nl0.144KSL/(Nmsrad-1)49940JFW/(kgm2)0.82BFW/(Nmsrad-1)88.13F0.9B0.7/()8/()3r/m0.07,4;30km/h,5;,30km/h50km/h64Fig.4Steeringangleinputofsteeringwheel530km/hFig.5Steeringeffortatspeedof30km/h6Fig.6Contrastinroadfeelatdifferentvehiclespeeds5,,,,6,,,,,,,,,4.3,730km/h7,,,[7],,730km/hFig.7Trackingperformanceresultsat30km/hspeed5()395(1),,,(2),,,,:[1],,.[J].:,2007,37(1):31236.ShiGuo2biao,ShenRong2wei,LinYi.Modelingandsimulationofelectricpowersteeringsystem[J].JournalofJilinUniversity(EngineeringandTech2nologyEdition),2007,37(1):31236.[2].[M].:,1991:2212223.[3],,,.[J].:,2007,37(3):5042508.ShenRong2wei,LinYi,TaiXiao2hong,etal.Steeringtorquedirectcontrolstrategyforvehicleelectricpowersteeringsystem[J].JournalofJilinUniversity(EngineeringandTechnologyEdition),2007,37(3):5042508.[4]PangDu2yeol,JangBong2choon,LeeSeong2cheol.SteeringwheeltorquecontrolofelectricpowersteeringbyPD2control[C]ICCAS,Gyeonggi2Do,Korea:KINTEX,2005.[5]HoomanMchammadi,RezaKazemi.Simulationofdifferenttypesofelectricpowerassistedsteering(EPS)toinvestigateappliedtorquepositioneffects[C]SAEPaper,200320120585.[6]MasahikoKurishige,ShunichiWada,TakayukiKifuku,etal.AnewEPScontrolstrategytoim2provesteeringwheelreturnability[C]SAEPa2per,200020120815.[7],,.[J].,2004,40(4):77280.WuWen2jiang,JiXue2wu,DuYan2liang.Develop2mentoftrackingperformanceforelectricpowersteeringcontrolsystem[J].JournalofMechanicalEngineering,2004,40(4):77280.6