Differential drive steering research on multi-axle in-wheel motor driving vehicle

This research is based on a four-axle vehicle with eight in-wheel motor driving wheels and dual-axles steering system, and its original mechanical steering system was preserved. We proposed a new steering pattern that can be used on the in-wheel motor driving vehicle which features the independent driving of in-wheel motor driving wheel. With focus on the differential drive steering system, its working principles were introduced and its feasibility was discussed. A dynamics model for the vehicle including the steering system was built based on Matlab/Simulink. The characteristic curve of the target torque distribution and the control algorithm for the torque output of both sides of steering wheels were presented and simulated. The simulation results show that differential drive steering is feasible, which can greatly reduce driver´s workload, and improve the steering performance of the vehicle, the requirements of steering were achieved.