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Aiming at the multi-axis distributed electric drive vehicles, this paper firstly established the vehicle dynamics model, and proposed a double-layer control strategy of rear axle differential steering based on centromass lateral deflection. The upper control took centromass lateral deflection and front wheel Angle as input, and adopted fuzzy control to obtain the rear axle differential steering reference Angle. The lower layer controls and tracks the reference Angle to obtain the differential torque of the rear axle hub motor. Finally, the simulation results show that compared with the ideal ackerman steering strategy, this strategy can effectively reduce the deviation Angle of the center of mass and improve the performance of the medium-high speed steering. Introduction Wheel hub motor drive is an important driving form of multi-axis distributed driving vehicles, and has become one of the important development directions of multi-axis vehicle electrification [13].Differential steering technology is based on the independent control of the torque of the wheels on both sides of the vehicle, which controls the longitudinal forces of the wheels on both sides to form differential torque around the center line of kingpin, so as to overcome the turning back to positive torque and realize steering. Research on multi-axis steering vehicle control methods is also ongoing, including feedforward control based on the steering ratio of the front and rear wheels[4], feedback control to control the rear wheel Angle through the feedback of vehicle motion parameters[5], and integrated control of four-wheel steering and yaw torque[6]. Literature[7] has concluded that drivers can drive normally when the deviation Angle on the side of center of mass is less than ±5°.This article through the design based on centroid side-slip Angle joint steering control system of a hierarchical structure, developed mechanical associated with differential steering Angle control strategy, combined with offline simulation system in a variety of typical working conditions for simulation analysis, verified the hierarchical control system based on centroid side-slip Angle and its related, the correctness and validity of control strategy.

Research On Differential Steering Control Strategy Of Distributed Electric Drive Vehicle