Leng, B., Xiong, L., Jin, C., Liu, J. et al., "Differential Drive Assisted Steering Control for an In-wheel Motor Electric Vehicle," SAE Int. J. Passeng. Cars – Electron. Electr. Syst. 8(2):433-441, 2015, doi:10.4271/2015-01-1599.
For an electric vehicle driven by four in-wheel motors, the torque of each wheel can be controlled precisely and independently. A closed-loop control method of differential drive assisted steering (DDAS) has been proposed to improve vehicle steering properties based on those advantages. With consideration of acceleration requirement, a three dimensional characteristic curve that indicates the relation between torque and angle of the steering wheel at different vehicle speeds was designed as a basis of the control system. In order to deal with the saturation of motor's output torque under certain conditions, an anti-windup PI control algorithm was designed. Simulations and vehicle tests, including pivot steering test, lemniscate test and central steering test were carried out to verify the performance of the DDAS in steering portability and road feeling. Results showed that with the proposed DDAS, the reference steering wheel torque can be tracked satisfactorily, drivers' handling burdens were reduced efficiently and the vehicle steering performance was improved.