Investigation into electronic differential strategies based on differential driving

WANG Qiang, WANG Yun, SONG Xiaowen
(Department of Energy Engineering, Zhejiang University, Hangzhou 310027, China)

Abstract: Aiming at solving the problem that exists in the electric differential using speed or torque control mode, an electric differential control strategy based on differential driving was presented, and a yaw motion control module on the whole vehicle dynamic level based on sliding mode control theory was designed. By considering the limitations of the tire friction ellipse and actuator, the differential driving control module and the slip ratio control module were designed. The results indicate that the electric differential control strategy can not only ensure good adhesion properties between driving wheels and road, but also improve the handling characteristics and driving safety.
Key words: electric differential(ED); differential driving; yaw motion; slip ratio