2.793

                    2018影響因子

                    (CJCR)

                    • 中文核心
                    • EI
                    • 中國科技核心
                    • Scopus
                    • CSCD
                    • 英國科學文摘

                    留言板

                    尊敬的讀者、作者、審稿人, 關于本刊的投稿、審稿、編輯和出版的任何問題, 您可以本頁添加留言。我們將盡快給您答復。謝謝您的支持!

                    姓名
                    郵箱
                    手機號碼
                    標題
                    留言內容
                    驗證碼

                    電動汽車電子差速控制技術研究綜述

                    姚芳 林祥輝 吳正斌 李貴強

                    姚芳,  林祥輝,  吳正斌,  李貴強.  電動汽車電子差速控制技術研究綜述.  自動化學報,  2021,  47(8): 1785?1798 doi: 10.16383/j.aas.c190293
                    引用本文: 姚芳,  林祥輝,  吳正斌,  李貴強.  電動汽車電子差速控制技術研究綜述.  自動化學報,  2021,  47(8): 1785?1798 doi: 10.16383/j.aas.c190293
                    Yao Fang,  Lin Xiang-Hui,  Wu Zheng-Bin,  Li Gui-Qiang.  Summary of research on electronic differential control technology of electric vehicle.  Acta Automatica Sinica,  2021,  47(8): 1785?1798 doi: 10.16383/j.aas.c190293
                    Citation: Yao Fang,  Lin Xiang-Hui,  Wu Zheng-Bin,  Li Gui-Qiang.  Summary of research on electronic differential control technology of electric vehicle.  Acta Automatica Sinica,  2021,  47(8): 1785?1798 doi: 10.16383/j.aas.c190293

                    電動汽車電子差速控制技術研究綜述

                    doi: 10.16383/j.aas.c190293
                    基金項目: 河北省自然科學基金 (E2019202481), 面向傳感器智能制造的高速高精機器人的關鍵技術研發基金 (天津市科委18YFZNGX00030)資助
                    詳細信息
                      作者簡介:

                      姚芳:河北工業大學電氣工程學院教授, 博士后. 主要研究方向為電工裝備可靠性. 本文通信作者. E-mail: yaofang@hebut.edu.cn

                      林祥輝:河北工業大學電氣工程學院碩士研究生. 主要研究方向為電子差速控制, 電機控制. E-mail: MiLinxh@126.com

                      吳正斌:中國科學院深圳先進技術研究院研究員, 天津中科先進技術研究院有限公司院長. 主要研究方向為新型能量轉換材料和器件的設計應用技術. E-mail: zb.wu@tiat.ac.cn

                      李貴強:中國科學院深圳先進技術研究院博士研究生. 主要研究方向為電動汽車電機控制.E-mail: gq.li@siat.ac.cn

                    Summary of Research on Electronic Differential Control Technology of Electric Vehicle

                    Funds: Supported by Hebei Natural Science Foundation (E2019202481), Research and Development of Key Technologies for High Speed and High Precision Robot Oriented to Sensor Intelligent Manufacturing (Tianjin Science and Technology Commission 18YFZNGX00030)
                    More Information
                      Author Bio:

                      YAO Fang Ph.D., professor of Hebei University of Technology. Her main research interest is reliability of electrical equipment. Corresponding author of this paper

                      LIN Xiang-Hui Master student at the Electrical Engineering College, Hebei University of Technology. His research interest covers electronic differential control and motor control technology

                      WU Zheng-Bin Professor at Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, and president of Tianjin Chinese Academy of Sciences Insititute of Adbanced Technology Co., Ltd..His research interest covers design and aoolication technology of new energy conversion materials and devices

                      LI Gui-Qiang Ph.D. candidate of Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences. His main research interest is electric vehicle motor control

                    • 摘要:

                      首先, 闡述電動汽車(Electric vehicle, EV)驅動系統的布置結構以及差速控制的原理和優缺點, 并介紹用于電子差速控制(Electronic differential control, EDC)的Acekermann轉向模型和3自由度整車動力學模型, 進而剖析非線性擾動和整車模型的設計理念; 其次, 重點綜述電動汽車分布式驅動結構的電子差速控制策略、多機抗擾控制及優化算法的相關研究成果, 并從成果走向、局限性及可能的發展空間分析其發展態勢; 最后, 從整車模型、控制策略、抗擾算法和效果驗證等四個方面, 總結電動汽車電子差速控制技術的現狀, 并展望未來發展可能.

                    • 圖  1  集中驅動結構

                      Fig.  1  Centralized drive structure

                      圖  2  多電動機分布驅動結構

                      Fig.  2  Multi-motor distributed drive structure

                      圖  3  Ackermann轉向幾何模型

                      Fig.  3  Ackermann steering geometric model

                      圖  4  汽車轉向時整車受力示意圖

                      Fig.  4  Schematic diagram of force acting on the whole vehicle during steering

                      圖  5  基于轉速的電子差速控制策略原理

                      Fig.  5  Principle of electronic differential control strategy based on speed

                      圖  6  基于轉矩的電子差速控制策略原理

                      Fig.  6  Principle of electronic differential control strategy based on torque

                      圖  7  文獻成果統計

                      Fig.  7  Statistics of literature achievements

                      圖  8  多機PID抗擾控制原理

                      Fig.  8  Principle of multi-machine pid disturbance rejection control

                      圖  9  多機模糊抗擾控制原理

                      Fig.  9  Principle of multi-machine fuzzy disturbance rejection control

                      圖  10  多機神經網絡抗擾控制原理

                      Fig.  10  Principle of disturbance rejection control based on multi-machine neural network

                      圖  11  滑模變結構控制原理

                      Fig.  11  Sliding mode variable structure control principle

                      360彩票
                    • [1] 靳立強, 田端洋, 劉閱. 電動輪汽車驅動助力轉向與穩定性協調控制. 機械工程學報, 2018, 54(16): 160-169 doi: 10.3901/JME.2018.16.160

                      Jin Li-Qiang, Tian Duan-Yang, Liu Yue. Coordinated control of DDAS and ESC systems for electric vehicle driven by in-wheel motors. Journal of Mechanical Engineering, 2018, 54(16): 160-169 doi: 10.3901/JME.2018.16.160
                      [2] You S, Lee H, Lee D, Mok H, Lee Y, Han S. Speed ratio control for electronic differentials. Electronics Letters, 2011, 47(16): 933-934. doi: 10.1049/el.2011.1546
                      [3] 楊欣欣, 何克忠, 郭木河, 張鈸. 基于神經網絡的室外移動機器人前輪轉向模型. 自動化學報, 2000, 26(2): 154-161

                      Yang Xin-Xin, He Ke-Zhong, Guo Mu-He, Zhang Bo. Front wheel steering model of outdoor mobile robot based on neural networks. Acta Automatica Sinica, 2000, 26(2): 154-161
                      [4] 靳彪, 張欣, 楊慶保. 純電動汽車低速轉向差速控制模型. 北京交通大學學報, 2013, 37(4): 158-161 doi: 10.3969/j.issn.1673-0291.2013.04.031

                      Jin Biao, Zhang Xin, Yang Qing-Bao. Low speed steering differential control model for pure electric vehicle. Journal of Beijing Jiaotong University, 2013, 37(4): 158-161 doi: 10.3969/j.issn.1673-0291.2013.04.031
                      [5] 徐寅, 陳東. 電動汽車差速系統研究綜述. 中國機械工程, 2011, 22(4): 498-503

                      Xu Yin, Chen Dong. Summary on research of differential for a electric vehicle. China Mechanical Engineering, 2011, 22(4): 498-503
                      [6] 胡云峰, 曲婷, 劉俊, 施竹清, 朱冰, 曹東璞, 等. 智能汽車人機協同控制的研究現狀與展望. 自動化學報, 2019, 45(7): 1261-1280

                      Hu Yun-Feng, Qu Ting, Liu Jun, Shi Zhu-Qing, Zhu Bing, Cao Dong-Pu, et al. Human-machine cooperative control of intelligent vehicle: Recent developments and future perspectives. Acta Automatica Sinica, 2019, 45(7): 1261-1280
                      [7] 陳虹, 宮洵, 胡云峰, 劉奇芳, 高炳釗, 郭洪艷. 汽車控制的研究現狀與展望. 自動化學報, 2013, 39(4): 322-346 doi: 10.1016/S1874-1029(13)60033-6

                      Chen Hong, Gong Xun, Hu Yun-Feng, Liu Qi-Fang, Gao Bing-Zhao, Guo Hong-Yan. Automotive control: The state of the art and perspective. Acta Automatica Sinica, 2013, 39(4): 322-346 doi: 10.1016/S1874-1029(13)60033-6
                      [8] Chen Y, Chen S Z, Zhao Y Z, Gao Z P, Li C L. Optimized handling stability control strategy for a four in-wheel motor independent-drive electric vehicle. IEEE Access, 2019, 7: 17017-17032 doi: 10.1109/ACCESS.2019.2893894
                      [9] 余卓平, 劉軍, 熊璐, 馮源. 分布式驅動電動汽車操縱性改善控制策略設計. 同濟大學學報(自然科學版), 2014, 42(7): 1088-1095

                      Yu Zhuo-Ping, Liu Jun, Xiong Lu, Feng Yuan. Control strategies of handling improvement of distributed drive electric vehicle. Journal of Tongji University (Natural Science), 2014, 42(7): 1088-1095
                      [10] Daya J L F, Sanjeevikumar P, Blaabjerg F, Wheeler P W, Ojo J O. Implementation of wavelet-based robust differential control for electric vehicle application. IEEE Transactions on Power Electronics, 2015, 30(12): 6510-6513 doi: 10.1109/TPEL.2015.2440297
                      [11] 張雷. 分布式驅動電動汽車制動系統關鍵技術研究[博士學位論文], 清華大學, 中國, 2015.

                      Zhang Lei. Research on the Key Technologies of Braking System of Distributed Driven Electric Vehicle [Ph.D. dissertation], Tsinghua University, China, 2015.
                      [12] Nahidi A, Kasaiezadeh A, Khosravani S, Khajepour A, Chen S K, Litkouhi B. Modular integrated longitudinal and lateral vehicle stability control for electric vehicles. Mechatronics, 2017, 44: 60-70 doi: 10.1016/j.mechatronics.2017.04.001
                      [13] Tahami F, Kazemi R, Farhanghi S. A novel driver assist stability system for all-wheel-drive electric vehicles. IEEE Transactions on Vehicular Technology, 2003, 52(3): 683-692. doi: 10.1109/TVT.2003.811087
                      [14] 科技部. “十三五”力推新能源汽車技術創新. 工具技術, 2016, 50(9): 104 (查閱所有網上資料,未找到本條文獻信息,請聯系作者確認)

                      Ministry of science and technology. Push forward new energy vehicle technology innovation in the 13th five-year plan. Tool Technology, 2016, 50(9): 104
                      [15] IEA. Global EV outlook 2018 [Online], available: https://webstore.iea.org/global-ev-outlook-2018, August 9, 2019
                      [16] IEA. Global EV outlook 2019 [Online], available: https://webstore.iea.org/global-ev-outlook-2019, August 9, 2019
                      [17] 陳國棟, 王志勝. 基于阿克曼定理的四輪獨立轉向模糊控制算法研究. 機械與電子, 2014(8): 26-29 doi: 10.3969/j.issn.1001-2257.2014.08.007

                      Chen Guo-Dong, Wang Zhi-Sheng. Fuzzy control method based on ackermann steering theorem for four wheel independent steering. Machinery & Electronics, 2014(8): 26-29 doi: 10.3969/j.issn.1001-2257.2014.08.007
                      [18] 李衛碩, 徐穎, 郭超, 李亞超, 嚴亞亞, 黃偉兵. 基于阿克曼算法的輪轂電動汽車控制方法研究. 測控技術, 2017, 36(3): 59-62 doi: 10.3969/j.issn.1000-8829.2017.03.015

                      Li Wei-Shuo, Xu Ying, Guo Chao, Li Ya-Chao, Yan Ya-Ya, Hang Wei-Bing. Study on control method of motor-in-wheel electric vehicles based on ackermann algorithm. Measurement & Control Technology, 2017, 36(3): 59-62 doi: 10.3969/j.issn.1000-8829.2017.03.015
                      [19] Hrbacek J, Ripel T, Krejsa J. Ackermann mobile robot chassis with independent rear wheel drives. In: Proceedings of the 14th International Power Electronics and Motion Control Conference EPE-PEMC 2010. Ohrid, Macedonia: IEEE, 2010. T5-46−T5-51
                      [20] Ackermann J, Utkin V. Sliding mode control design based on Ackermann's formula. IEEE Transactions on Automatic Control, 1998, 43(2): 234-237 doi: 10.1109/9.661072
                      [21] 方敏, 應艷杰, 汪洪波, 陳無畏. 基于整車轉向模型的汽車主動懸架控制研究. 中國機械工程, 2006, 17(4): 431-434, 439 doi: 10.3321/j.issn:1004-132X.2006.04.025

                      Fang Min, Ying Yan-Jie, Wang Hong-Bo, Chen Wu-Wei. Study on active suspension control based on full-vehicle model of steering and suspension systems. China Mechanical Engineering, 2006, 17(4): 431-434, 439 doi: 10.3321/j.issn:1004-132X.2006.04.025
                      [22] Di Cairano S, Tseng H E, Bernardini D, Bemporad A. Vehicle yaw stability control by coordinated active front steering and differential braking in the tire sideslip angles domain. IEEE Transactions on Control Systems Technology, 2013, 21(4): 1236-1248 doi: 10.1109/TCST.2012.2198886
                      [23] Gao D W, Mi C, Emadi A. Modeling and simulation of electric and hybrid vehicles. Proceedings of the IEEE}, 2007, 95(4): 729-745 doi: 10.1109/JPROC.2006.890127
                      [24] Rajamani R, Piyabongkarn D N. New paradigms for the integration of yaw stability and rollover prevention functions in vehicle stability control. IEEE Transactions on Intelligent Transportation Systems, 2013, 14(1): 249-261 doi: 10.1109/TITS.2012.2215856
                      [25] Zhang X D, Gohlich D, Li J Y. Energy-efficient toque allocation design of traction and regenerative braking for distributed drive electric vehicles. IEEE Transactions on Vehicular Technology, 2018, 671: 285-295.
                      [26] Mavromatis S, Laiou A, Yannis G. Safety assessment of control design parameters through vehicle dynamics model. Accident Analysis and Prevention, 2019, 125: 330-335
                      [27] 張亞新. 基于輪轂電機的電子差速控制系統研究[碩士學位論文], 山東理工大學, 中國, 2016.

                      Zhang Ya-Xin. Research on Electronic Differential Control System Based on Wheel Hub Motor [Master thesis], Shandong University of Technology, China, 2016.
                      [28] Lee J S, Ryoo Y J, Lim Y C, Freere P, Kim T G, Son S J, et al. A neural network model of electric differential system for electric vehicle. In: Proceedings of the 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies. Nagoya, Japan: IEEE, 2000. 83?88
                      [29] Cordeiro A, Foito D, Guerreiro M. A sensolrless speed control system for an electric vehicle without mechanical differential gear. In: Proceedings of the 2006 IEEE Mediterranean Electrotechnical Conference. Malaga, Spain: IEEE, 2006. 1174?1177
                      [30] 周勇, 李聲晉, 田海波, 方宗德, 周奇勛. 四輪轂電機電動車的電子差速控制方法. 電機與控制學報, 2007, 11(5): 467-471, 476 doi: 10.3969/j.issn.1007-449X.2007.05.007

                      Zhou Yong, Li Sheng-Jin, Tian Hai-Bo, Fang Zong-De, Zhou Qi-Xun. Control method of electronic differential of EV with four in-wheel motors. Electric Machines and Control, 2007, 11(5): 467-471, 476 doi: 10.3969/j.issn.1007-449X.2007.05.007
                      [31] 邱恒浪. 基于輪轂電機的四輪驅動差速轉向控制系統的研究[碩士學位論文], 西南大學, 中國, 2012.

                      Qiu Heng-Lang. Research on Differential Steering Control System of Four-wheel Drive With In-wheel Motor [Master thesis], Southwest University, China, 2012.
                      [32] Ravi A, Palani S. Robust electronic differential controller for an electric vehicle. American Journal of Applied Sciences, 2013, 10(11): 1356-1362 doi: 10.3844/ajassp.2013.1356.1362
                      [33] 潘漢明. 基于模糊神經網絡的電動汽車電子差速控制系統的研究與開發[碩士學位論文], 浙江農林大學, 中國, 2016.

                      Pan Han-Ming. Study and Exploitation on Electronic Differential Control System for Electric Vehicles Based on Fuzzy Neural Network [Master thesis], Zhejiang A&F University, China, 2016.
                      [34] 楊朝陽. 多軸轉向電動車輛的輪轂電機驅動控制研究[碩士學位論文], 集美大學, 中國, 2016.

                      Yang Chao-Yang. Driving Control of the In-wheel Motor of Multi-axis Steering Electric Vehicls [Master thesis], Jimei University, China, 2016.
                      [35] 葛英輝, 倪光正. 新的輪式驅動電動車電子差速控制算法的研究. 汽車工程, 2005, 27(3): 340-343 doi: 10.3321/j.issn:1000-680X.2005.03.020

                      Ge Ying-Hui, Ni Guang-Zheng. A novel electronic differential algorithm for in-wheel motor driven EV. Automotive Engineering, 2005, 27(3): 340-343 doi: 10.3321/j.issn:1000-680X.2005.03.020
                      [36] 葛英輝. 輪式驅動電動車控制系統的研究[博士學位論文]. 浙江大學, 中國, 2005.

                      Ge Ying-Hui. The Control System for In-wheel Driven Electric Vehicle [Ph.D. dissertation], Zhejiang University, China, 2005.
                      [37] Hartani K, Bourahla M, Miloud Y, Sekour M. Electronic differential with direct torque fuzzy control for vehicle propulsion system. Turkish Journal of Electrical Engineering and Computer Sciences, 2009, 17(1): 21-38
                      [38] Chen Y, Wang J M. Design and evaluation on electric differentials for overactuated electric ground vehicles with four independent in-wheel motors. IEEE Transactions on Vehicular Technology, 2012, 61(4): 1534-1542 doi: 10.1109/TVT.2012.2187940
                      [39] Huu P N. Design of an electronic differential for a formula electric racecar. In: Proceedings of the 2013 International Electric Machines & Drives Conference. Chicago, USA: IEEE, 2013. 62?66
                      [40] 張素燕. 基于滑移率的輪轂式電動汽車電子差速控制方法研究 [碩士學位論文], 燕山大學, 中國, 2016.

                      Zhang Su-Yan. Study on Electronic Differential Speed Control of Wheel Hub Electric Vehicles Based on Slip Ratio [Master thesis], Yanshan University, China, 2016.
                      [41] 陳江松, 童亮, 陳勇. 純電動汽車輪轂電機驅動電子差速研究. 北京信息科技大學學報, 2018, 33(5): 88-92

                      Chen Jiang-Song, Tong Liang, Chen Yong. Electronic differential control of pure electric vehicle driven by hub motor. Journal of Beijing Information Science & Technology University, 2008, 33(5): 88-92
                      [42] Hou R F, Zhai L, Sun T M, Hou Y H, Hu G X. Steering stability control of a four in-wheel motor drive electric vehicle on a road with varying adhesion coefficient. IEEE Access, 2019, 7: 32617-32627 (本條文獻與第26條文獻重復,請聯系作者確認) doi: 10.1109/ACCESS.2019.2901058
                      [43] 鄒中華. 輪轂電機驅動電動汽車電子差速控制策略研究[碩士學位論文], 重慶大學, 中國, 2016.

                      Zou Zhong-Hua. Research on Electronic Differential Control Strategies of In-wheel Motor Driving Vehicle [Master thesis], Chongqing University, China, 2016.
                      [44] 馬浩軍. 電動汽車電子差速控制系統研究[碩士學位論文], 浙江大學, 中國, 2016.

                      Ma Hao-Jun. Research of Electronic Differential Control System for Electric Vehicle [Master thesis], Zhejiang University, China, 2016.
                      [45] 吳宏鑫, 沈少萍. PID控制的應用與理論依據. 控制工程, 2003, 10(1): 37-42 doi: 10.3969/j.issn.1671-7848.2003.01.009

                      Wu Hong-Xin, Shen Shao-Ping. Basis of theory and applications on PID control. Control Engineering of China, 2003, 10(1): 37-42 doi: 10.3969/j.issn.1671-7848.2003.01.009
                      [46] Ang K H, Chong G, Li Y. PID control system analysis, design, and technology. IEEE Transactions on Control Systems Technology, 2005, 13(4): 559-576 doi: 10.1109/TCST.2005.847331
                      [47] Jung J W, Leu V Q, Do T D, Kim E K, Choi H H. Adaptive PID speed control design for permanent magnet synchronous motor drives. IEEE Transactions on Power Electronics, 2015, 30(2): 900-908 doi: 10.1109/TPEL.2014.2311462
                      [48] 譚會生, 廖雯. 模糊PID在輪式機器人轉向控制中的應用. 湖南工業大學學報, 2018, 32(1): 81-87

                      Tan Hui-Sheng, Liao Wen. Application of fuzzy PID in steering control of wheeled robots. Journal of Hunan University of Technology, 2008, 32(1): 81-87
                      [49] 王永富, 柴天佑, 遲瑛, 佟紹成. 基于觀測器的一類非線性系統的自適應模糊控制. 控制理論與應用, 2005, 22(3): 395-401 doi: 10.3969/j.issn.1000-8152.2005.03.011

                      Wang Yong-Fu, Chai Tian-You, Chi Ying, Tong Shao-Cheng. Observer-based adaptive fuzzy control for a class of nonlinear systems. Control Theory & Applications, 2005, 22(3): 395-401 doi: 10.3969/j.issn.1000-8152.2005.03.011
                      [50] Feng G. Analysis and Synthesis of Fuzzy Control Systems: A Model-based Approach. Boca Raton: CRC Press, 2010.
                      [51] Zhang N N, Xu C M, Niu W J, Lu X H. The electronic differential control based on the slip ratio. In: Proceedings of the 36th Chinese Control Conference. Dalian, China: IEEE, 2017.
                      [52] 童貽銀. 雙電機后輪驅動電動汽車電子差速系統的仿真研究[碩士學位論文], 華南理工大學, 中國, 2016.

                      Tong Yi-Yin. Simulation and Research on Electric Differential System of Electric Vehicle with Dual Motors [Master thesis], South China University of Technology, China, 2016.
                      [53] 陸文昌, 張勇, 張厚忠. 輪轂電機驅動汽車電子差速系統P-模糊PID控制研究. 機械制造與自動化, 2017, 46(6): 193-196

                      Lu Wen-Chang, Zhang Yong, Zhang Hou-Zhong. Research on p-fuzzy PID control of electronic differential system for in-wheel motor drive vehicle. Machine Building & Automation, 2017, 46(6): 193-196
                      [54] 沈勇, 吳新文. 基于復合神經網絡模型的四輪獨立驅動電動車控制. 汽車工程, 2004, 26(4): 458-460, 475 doi: 10.3321/j.issn:1000-680X.2004.04.022

                      Shen Yong, Wu Xin-Wen. Multiplex neural network control of four-wheel drived electric vehicle. Automotive Engineering, 2004, 26(4): 458-460, 475 doi: 10.3321/j.issn:1000-680X.2004.04.022
                      [55] 焦李成, 楊淑媛, 劉芳, 王士剛, 馮志璽. 神經網絡七十年: 回顧與展望. 計算機學報, 2016, 39(8): 1697-1717

                      Jiao Li-Cheng, Yang Shu-Yuan, Liu Fang, Wang Shi-Gang, Feng Zhi-Xi. Seventy years beyond neural networks: Retrospect and prospect. Chinese Journal of Computers, 2016, 39(8): 1697-1717
                      [56] Yu J P, Shi P, Dong W J, Chen B, Lin C. Neural network-based adaptive dynamic surface control for permanent magnet synchronous motors. IEEE Transactions on Neural Networks and Learning Systems, 2015, 26(3): 640-645 doi: 10.1109/TNNLS.2014.2316289
                      [57] 翟麗, 董守全, 羅開宇. 四輪轂電機獨立驅動車輛轉向電子差速控制. 北京理工大學學報, 2010, 30(8): 901-905

                      Zhai Li, Dong Shou-Quan, Luo Kai-Yu. Electronic differential speed steering control for four in-wheel motors independent drive vehicle. Transactions of Beijing Institute of Technology, 2010, 30(8): 901-905
                      [58] 劉金琨, 孫富春. 滑模變結構控制理論及其算法研究與進展. 控制理論與應用, 2007, 24(3): 407-418 doi: 10.3969/j.issn.1000-8152.2007.03.015

                      Liu Jin-Kun, Sun Fu-Chun. Research and development on theory and algorithms of sliding mode control. Control Theory & Applications, 2007, 24(3): 407-418 doi: 10.3969/j.issn.1000-8152.2007.03.015
                      [59] 穆效江, 陳陽舟. 滑模變結構控制理論研究綜述. 控制工程, 2007, 14(S1): 1-5

                      Mu Xiao-Jiang, Chen Yang-Zhou. Overview of sliding mode variable structure control. Control Engineering of China, 2007, 14(S1): 1-5
                      [60] 盧山峰, 徐興, 陳龍, 王峰, 王吳杰. 輪轂電機驅動汽車電子差速與差動助力轉向的協調控制. 機械工程學報, 2017, 53(16): 78-85 doi: 10.3901/JME.2017.16.078

                      Lu Shan-Feng, Xu Xing, Chen Long, Wang Feng, Wang Wu-Jie. Coordinated control of electronic differential and differential assist steering for electric vehicle driven by in-wheel motors. Journal of Mechanical Engineering, 2017, 53(16): 78-85 doi: 10.3901/JME.2017.16.078
                      [61] 楊云慶, 趙紅兵, 王吳杰, 徐興. 雙輪轂電機驅動電動汽車電子差速控制研究. 拖拉機與農用運輸車, 2018, 45(5): 34-39, 50

                      Yang Yun-Qing, Zhao Hong-Bing, Wang Wu-Jie, Xu Xing. Study on electronic differential control of electric vehicle with dual in-wheel-motor drive. Tractor & Farm Transporter, 2008, 45(5): 34-39, 50
                      [62] Esmailzadeh E, Goodarzi A, Vossoughi G R. Optimal yaw moment control law for improved vehicle handling. Mechatronics, 2003, 13(7): 659-675 doi: 10.1016/S0957-4158(02)00036-3
                      [63] 高桂革. 最優控制理論的發展與展望. 上海電機學院學報, 2005, 8(3): 33-35, 39 doi: 10.3969/j.issn.2095-0020.2005.03.010

                      Gao Gui-Ge. Development and prospect of optimal control. Journal of Shanghai Dianji University, 2005, 8(3): 33-35, 39 doi: 10.3969/j.issn.2095-0020.2005.03.010
                      [64] 臧懷泉, 戴彥, 張素燕, 邸聰那. 一種基于相對滑移率的電動汽車電子差速控制方法研究. 機械工程學報, 2017, 53(16): 112-119 doi: 10.3901/JME.2017.16.112

                      Zang Huai-Quan, Dai Yan, Zhang Su-Yan, Di Cong-Na. Research on electronic differential control method of electric vehicle based on relatively slip rate. Journal of Mechanical Engineering, 2017, 53(16): 112-119 doi: 10.3901/JME.2017.16.112
                      [65] 管萍, 黃巧亮. 輪轂電動汽車電子差速控制器設計研究. 計算機仿真, 2018, 35(9): 155-160 doi: 10.3969/j.issn.1006-9348.2018.09.031

                      Guan Ping, Huang Qiao-Liang. Research on electronic differential controller forin-wheeldriven electric vehicle. Computer Simulation, 2008, 35(9): 155-160 doi: 10.3969/j.issn.1006-9348.2018.09.031
                    • 加載中
                    圖(11)
                    計量
                    • 文章訪問數:  245
                    • HTML全文瀏覽量:  126
                    • PDF下載量:  37
                    • 被引次數: 0
                    出版歷程
                    • 收稿日期:  2019-04-11
                    • 錄用日期:  2019-09-24
                    • 網絡出版日期:  2020-12-29
                    • 刊出日期:  2021-08-20

                    目錄

                      /

                      返回文章
                      返回