Differential Speed Steering Control for Four （为四个差速转向控制）.pdf

International Journal of Materials, Mechanics and Manufacturing, Vol. 1, No. 4, November 2013 Differential Speed Steering Control for Four-Wheel Independent Driving Electric Vehicle Xiaodong Wu, Member, IACSIT , Min Xu, and Lei Wang  be zero when a spot turn is performed, which is impossible by Abstract—The increasing prospect of electric drive vehicles traditional steering method. has led many different control schemes to apply on the driving system. In this paper, differential speed steering which do not use traditional steering mechanism is studied on a four-wheel-driving vehicle. By comparison with the traditional Ackerman-steered vehicle, differential-steered method showed its advantage on the simple structure. Since the steering performance is just related with the velocities of four wheels, the strategy of differential speed on each motor is the major challenge. With the analysis of kinematic model of the vehicle, the relation between the turning behavior and the wheel parameters are investigated. A steering speed control method is proposed to get a steady turning performance during the acceleration or deceleration. The control strategy is implemented in a simulation to verify its rationality. (a) Ackerman-steered vehicle (b) Differential-steered vehicle Index Terms—Differential speed steering, four wheel independent driving, electric vehicle. Fig. 1. Two kinds of steering methods