Speed following control for differential steering of 4WID electric vehicle

This paper proposed a control strategy of differential steering specialized for four wheel independent driving (4WID) EVs. Different from traditional single torque-based control method, this strategy is designed to use the advantage of fast speed control of in-wheel motor. Four wheels are regulated to desired differential speed based on the reference vehicle velocity. Combined with Ackermann-Jeantand steering model, kinematic model of the distributed wheels is introduced to achieve electrical differential by speed following control. This method can reduce tyre wearing and increase manual stability. By the simulation and experimental study of differential speed steering control, the effectiveness of the proposed control strategy is demonstrated.