摘要：针对低速运行的两后轮独立驱动电动汽车的差速控制问题进行了研究。通过进行电机不带电推行转向试验来确定电动汽车四轮差速关系，解决了因车辆结构参数测量不准确等因素导致电机转速分配误差大的问题。为了避免车轮可能出现的打滑现象，结合基于门限值方法，把车轮滑转率限制在合理的范围内，并提出把两前轮其中一个作为转速被跟踪轮，另一个作为车速估算轮来计算驱动轮滑转率的方法，避免了因转速被跟踪轮轮速传感器故障可能导致重大事故发生的可能性，最终确定了差速控制策略。Simulink仿真与实车试验结果表明，此电子差速控制策略能够有效地实现低速运行车辆的差速控制，使得车辆按预定轨道行驶。
关键词：差速关系；推行转向试验；轮毂电机；滑转率；低速

Abstract: The low speed differential control problem of a electric vehicle with dual inwheel motors drive was studied. The differential relationship among four wheels is determined by pushing and steering tests of the motor is not charged and solved the large error problem of distribution of motor speed caused by the inaccurate measurement of vehicle structure parameters and other factors. To avoid wheel slippage, combined with the thresholdbased approach to keep wheel slip ratio within a reasonable range. Then put forward one of the two front wheels as the speed tracked wheel and the other was used to estimate vehicle to calculate wheel slip ratio and avoid possibility of speed sensor failure could leading to a accident. Simulink simulation and experiment results show that the electronic differential control strategy can effectively achieve low speed differential control of the vehicle, making the vehicle traveling at a predetermined orbit.
Key words: differential relations; pushing and steering test; inwheel motor; slip ratio; low speed