The coordinative control strategy of FWID EV´s wheel velocity and torque

This paper proposes a kind of coordinative control strategy of FWID EV´s wheel velocity and torque, which can ensure that FWID EV drives stably and efficiently. This paper analyzes FWID EV´s four-wheel steering angle and speed control strategy when the vehicle drives on the conditions of going-straight, turning, oblique-line-driving, transverse-driving and spinning-around. The control strategy calculates four-wheel steering angle under different control intention according to kinematics knowledge . The output torque of every wheel is measured by the integrated motor torque sensor which has been researched and developed independently by our laboratory. With the output torque of the four wheel , we can judge whether the vehicle can drive on the expected route. If there exists some error of the route, we revise it by fuzzy control so that FWID EV can drive stably on all kinds of driving-path.