Abstract：Differential steering based on the tire cornering characteristics is applicable to large-radius curves. This paper presents a model of an independently driven four wheel electric vehicle. The state-space equation for the differential steering system is used to analyze the stability and controllability and to analyze the factors influencing the steering ability. A steady-state steering torque model is used in a control method based on fuzzy inference feedforward compensation. Simulations show that the control algorithm not only improves the system response time but is also adaptable to different steering needs at different speeds.
宋健, 赵文宗, 戴亚奇, 程帅, 李飞. 基于轮胎侧偏的差动转向及控制[J]. 清华大学学报（自然科学版）, 2020, 60(2): 117-123.
SONG Jian, ZHAO Wenzong, DAI Yaqi, CHENG Shuai, LI Fei. Control of a tire-cornering based differential steering system. Journal of Tsinghua University(Science and Technology), 2020, 60(2): 117-123.
[1] 王军年. 电动轮独立驱动汽车差动助力转向技术研究[D]. 长春:吉林大学, 2009. WANG J N. Study on differential drive assist steering technology for electric vehicle with independent-motorized-wheel-drive[D]. Changchun:Jilin University, 2009. (in Chinese) [2] 景晖. 基于差动转向的分布式直驱电动汽车鲁棒控制方法研究[D]. 南京:东南大学, 2017. JING H. Robust control for four-wheel independently actuated electric vehicles based on differential steering[D]. Nanjing:Southeast University, 2017. (in Chinese) [3] IIDA M, NAKASHIMA H, TOMIYAMA H, et al. Small-radius turning performance of an articulated vehicle by direct yaw moment control[J]. Computers and Electronics in Agriculture, 2011, 76(2):277-283. [4] KOZLOWSKI K, PAZDERSKI D. Modeling and control of a 4-wheel skid-steering mobile robot[J]. International Journal of Applied Mathematics and Computer Science, 2004, 14(4):477-496. [5] KANG J, KIM W, LEE J, et al. Skid steering-based control of a robotic vehicle with six in-wheel drives[J]. Proceedings of the Institution of Mechanical Engineers, Part D:Journal of Automobile Engineering, 2010, 224(11):1369-1391. [6] LUCET E, GRAND C, SALLE D, et al. Dynamic yaw and velocity control of the 6WD skid-steering mobile robot RobuROC6 using sliding mode technique[C]//Intelligent Robots and Systems. St. Louis, USA, 2009:4220-4225. [7] CHOI J Y, KIM D H, KIM C J, et al. A study on an independent steering and driving control algorithm for 6WS/6WD vehicles[C]//International Conference on Control, Automation and Systems. Gyeonggi-do, South Korea, 2010:1491-1495. [8] JIN C, XIONG L, YU Z, et al. Path following control for skid steering vehicles with vehicle speed adaption[J]. SAE Technical Paper, 2014, 1:2014-01-0277. [9] ELSHAZLY O, ABO-ISMAIL A ABBAS H S, et al. Skid steering mobile robot modeling and control[C]//The 2014 UKACC 10th International Conference on Control. Loughborough, UK, 2014. [10] ANWAR S, ZHENG B. An antilock-braking algorithm for an eddy-current-based brake-by-wire system[J]. IEEE Transactions on Vehicular Technology, 2007, 56(3):1100-1107. [11] HE P, HORI Y. Optimum traction force distribution for stability improvement of 4WD EV in critical driving condition[C]//9th IEEE International Workshop on Advanced Motion Control. Istanbul, Turkey, 2006. [12] MOKHIAMAR O, ABE M. Simultaneous optimal distribution of lateral and longitudinal tire forces for the model following control[J]. Journal of Dynamic Systems Measurement and Control:Transactions of the ASME, 2004, 126(4):753-763. [13] TAEHYUN S, SEHYUN C, SEOK L. Investigation of sliding-surface design on the performance of sliding mode controller in antilock braking systems[J]. IEEE Transactions on Vehicular Technology, 2008, 57(2):747-759. [14] PACEJKA H B, BESSELINK I J M. Magic formula tire model with transient properties[J]. Vehicle System Dynamics, 1997, 27(S1):234-249. [15] 余志生. 汽车理论[M]. 北京:机械工业出版社, 2009:148. YU Z S. Automobile theory[M]. Beijing:China Machine Press, 2009:148. (in Chinese) [16] KODAGODA K R S, WIJESOMA W S, TEOH E K. Fuzzy speed and steering control of an AGV[J]. IEEE Transactions on Control Systems Technology, 2002, 10(1):112-120. [17] ZHANG J, ZHANG Y, CHEN L, et al. A fuzzy control strategy and optimization for four wheel steering system[C]//IEEE International Conference on Vehicular Electronics and Safety. Beijing, 2008.
2020, Vol. 60 
