CN109050661A - The control method for coordinating and cooperative control device of electronic differential and active differential steering - Google Patents
The control method for coordinating and cooperative control device of electronic differential and active differential steering Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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Abstract
The invention discloses the control method for coordinating and cooperative control device of electronic differential and active differential steering.The control method for coordinating includes: the steering wheel angle δ inputted according to driverf, calculate ideal yaw velocity ωd；According to yaw velocity ωd, calculate torque Mb；Judge active differential steering controller amount of exports torque K when assisting driving modesMzDirection and torque MbDirection it is whether identical, be the practical yaw velocity ω for detecting vehicler；Otherwise judge whether ωr<ωd；It is that Electronic differential control device and active differential steering controller control simultaneously, otherwise Electronic differential control device stops control.The present invention rationally can effectively coordinate the work relationship between two controllers, solve the problems, such as that existing driver and control system interfere with each other when orthodox car is based on turn-around design deviation supplementary controlled system.
Description
Technical field
The present invention relates to In-wheel motor driving automobile assistant driving control technology fields more particularly to a kind of hub motor to drive
The electronic differential of electrical automobile and the control method for coordinating and its cooperative control device of active differential steering.
Background technique
Deviation auxiliary system (Lane departure assistance system, LDAS) is used as intelligent driving skill
The important component of art, the important content that deviation supplementary controlled system drives as auxiliary, research have based on steering
System executes as bottom and carries out deviation auxiliary, and which has some limitations:
(1) the steering input of driver generates interference, the steering force of supplementary controlled system output to supplementary controlled system
Certain discomfort can be caused to driver；
(2) man-machine while steering is controlled, if the two is coordinated inconsistent or clashed, pilot control will be aggravated
Burden, influences vehicle driving safety.
Also have and realize that deviation assists by way of differential braking, can avoid between driver and control system as far as possible
Interference, however use differential braking that can generate certain influence on speed.
Research above with respect to deviation supplementary controlled system primarily directed to traditional combustion engine automobile and is based on passing
The electric car of the chassis structure with single power source output of system.And In-wheel motor driving automobile as electric car one
Kind special construction, has four-wheel torque individually controllable, and motor torque response rapidly, controls the advantages that flexible, in intelligent driving
And there is the unrivaled advantage of automobile of the chassis structure of traditional single power source output in terms of the control of auxiliary driving.Needle
To In-wheel motor driving automobile, decision, control and execution are considered as a whole, pass through while total driving force request in guarantee longitudinal direction
Active distribution is carried out to four-wheel torque, designs In-wheel motor driving automobile deviation supplementary controlled system.Due to designed
Deviation supplementary controlled system is using four hub motors as executing agency, rather than using steering wheel as executing agency, institute
Can effectively solve traditional combustion engine automobile existing driver and control when based on turn-around design deviation auxiliary system
The problem of system interferes with each other.Due to being to carry out active torque point to four turbin generators under the premise of meeting total longitudinal force demand
Match, speed is produced so also can effectively solve orthodox car and be based on existing when differential braking Design Lane deviates supplementary controlled system
Raw the problem of influencing.
Summary of the invention
Due to the special structure type of In-wheel motor driving automobile, In-wheel motor driving Automobile Design deviation is assisted
When control system, it is important that a little be exactly electronic differential Yu active differential steering Harmonic Control, therefore, the present invention mentions
The control method for coordinating and its cooperative control device of a kind of electronic differential of In-wheel motor driving automobile and active differential steering out,
It is to be put forward for the first time for the electronic differential of In-wheel motor driving automobile and the coordination control strategy of active differential steering.
Solution of the invention is: a kind of coordination of the electronic differential and active differential steering of In-wheel motor driving automobile
Control method, the In-wheel motor driving automobile have a deviation supplementary controlled system, the deviation auxiliary control
System processed is equipped with: only the free driving mode of Electronic differential control device control, only active differential steering controller control
The auxiliary of active driving mode, the Electronic differential control device and the active differential steering controller Collaborative Control drives mould
Formula；The control method for coordinating be applied to the auxiliary driving mode in, the control method for coordinating the following steps are included:
Step S11, the steering wheel angle δ inputted according to driverf, calculate ideal yaw velocity ωd；
Step S12, the Electronic differential control device is according to yaw velocity ωd, calculate torque Mb；
Step S13, the active differential steering controller export a torque K in the auxiliary driving modesMz,
In, KsFor correlation function, 0 < Ks< 1, MzThe yaw moment gone out for the active differential steering controller decision；
Step S14 judges torque MbDirection and torque KsMzDirection it is whether identical；Torque MbDirection and torque KsMz
If direction it is identical, then follow the steps S15；
Step S15 detects the practical yaw velocity ω of vehicler；
Step S16, judges whether ωr<ωd；It is to then follow the steps S17, it is no to then follow the steps S18；
Step S17, the Electronic differential control device and the active differential steering controller control simultaneously；
Step S18, the Electronic differential control device stop control.
As a further improvement of the foregoing solution, the control method for coordinating further include:
Step S19, when there are a yaws when bias, according to vehicle in current location between vehicle-to-target path
AngleAnd vehicle with take aim in advance at lateral deviation YlExport a desired orientation disk corner δd；Wherein, δdAre as follows:Wherein, L is vehicle wheel base, and i is steering system transmission ratio, lsIt is vehicle away from the preview distance at taking aim in advance；
Step S110, judges δfDirection and δdDirection it is whether opposite；If on the contrary, thening follow the steps S18.
As a further improvement of the foregoing solution, the control method for coordinating further include:
Step S111 adjusts the PID of the deviation supplementary controlled system according to desired course angle and actual heading angle
Ratio control parameter, integration control parameter, the differential control parameter of course angle controller；
Wherein, when vehicle will be entangled loop center line, and when meeting the following conditions, start the PID course angle
Controller:
(1) road curvature ρ=0；
(2) derivative of the absolute value of the transversal displacement e of vehicle
(3) correlation function Ks>1；
(4) yaw angle of the vehicle in current location
According to desired course angle and actual heading angle, design meets following formula:
Wherein, e (n)=desired course angle-actual heading angle, n are
Sampling instant；x1(n) speed v is indicated；x2(n) coefficient of road adhesion μ is indicated；x3(n) road curvature ρ is indicated；
To x1(n)、x2(n)、x3(n) learnt using neural network, and replace the ratio to control respectively after study
Parameter, the integration control parameter, the differential control parameter.
As a further improvement of the foregoing solution, torque MbDirection and torque KsMzDirection if on the contrary, if the electricity
Sub- differential controller stops control.
As a further improvement of the foregoing solution, in step s 11, if δf=0, then the Electronic differential control device stops
Only control.
As a further improvement of the foregoing solution, ωdAre as follows:Wherein, vxIndicate speed；L is vapour
Axle away from；KsIndicate correlation function.
As a further improvement of the foregoing solution, KsAre as follows:
Wherein, k1、k2The cornering stiffness of respectively forward and backward wheel；A, b be mass center respectively extremely
The distance of axle；M is complete vehicle quality；L is vehicle wheel base.
As a further improvement of the foregoing solution, MbAre as follows:
Wherein,
IzIt is vehicle around the rotary inertia of z-axis；A, b is vehicle centroid respectively to the distance of axle；k1、k2Respectively forward and backward wheel
Cornering stiffness；β is side slip angle；ωrFor practical yaw velocity；vxIndicate speed；Designed sliding mode controller uses
Exponentially approaching ruleWherein s is sliding-mode surface equation, and k, ε are two coefficients of exponentially approaching rule, and sgn is symbol
Number function.
As a further improvement of the foregoing solution, MzAre as follows:
Wherein, vxIndicate speed；η1For lateral deviation coefficient at taking aim in advance, η2For heading angle deviation coefficient, ρ is that road is bent
Rate,It is led for the single order of ρ,Yaw angle for vehicle in current location,ForSingle order lead, k1、k2Respectively forward and backward vehicle
The cornering stiffness of wheel；YlFor vehicle in advance take aim at lateral deviation,For YlSingle order lead, lsFor vehicle away from
The preview distance at place is taken aim in advance, and designed sliding mode controller is using exponentially approaching ruleWherein s
For sliding-mode surface equation, k, ε are two coefficients of exponentially approaching rule, and sgn is sign function；β is side slip angle；ωr
For practical yaw velocity；vxIndicate speed；IzIt is vehicle around the rotary inertia of z-axis；
The present invention also provides the coordinated control of a kind of electronic differential of In-wheel motor driving automobile and active differential steering dresses
It sets, uses the electronic differential of above-mentioned any In-wheel motor driving automobile and the control method for coordinating of active differential steering, it is described
Cooperative control device includes:
Ideal yaw velocity ωdAcquiring unit is used for the steering wheel angle δ inputted according to driverf, calculate
Ideal yaw velocity ω outd；
Torque MbAcquiring unit is used for the Electronic differential control device according to yaw velocity ωd, calculate torque Mb；
Torque KsMzAcquiring unit is used for active differential steering controller output in the auxiliary driving mode
One torque KsMz, wherein KsFor correlation function, 0 < Ks< 1, MzThe sideway force spent for the active differential steering controller decision
Square；
Judging unit one is used to judge torque MbDirection and torque KsMzDirection it is whether identical；
Detection unit is used to detect the practical yaw velocity ω of vehicler；Wherein, torque MbDirection and torque KsMz
If direction it is identical, start detection unit；
Judging unit two is used to judge whether ωr<ωd；
Decision output unit, is used for ωr<ωdWhen, make the Electronic differential control device and the active differential steering control
Device processed controls simultaneously；ωr>ωdWhen, so that the Electronic differential control device is stopped control.
The present invention rationally can effectively coordinate the work relationship between two controllers, solve orthodox car and be based on turning to
The problem of existing driver and control system interfere with each other when Design Lane deviation supplementary controlled system.The present invention is directed at present
The research and invention of deviation supplementary controlled system are all to consider the process rectified a deviation to vehicle merely, without examining
Consider the state after vehicle is entangled loop center line.There are a yaw angles when if vehicle being entangled loop center line, and
Driver fails to react in time because energy is not concentrated at this time, then secondary deviation danger can occur for vehicle, and the present invention is directed to
Vehicle when being entangled loop center line secondary deviation danger that may be present devise single neuron self-adaptive PID controller course angle and control
Device avoids secondary deviateing danger controlling course angle when vehicle is entangled loop center line.
Detailed description of the invention
Fig. 1 is In-wheel motor driving automobile deviation supplementary controlled system overall structure block diagram.
Fig. 2 is two-dimentional Region place value schematic diagram.
Fig. 3 is the flow chart of the control method for coordinating of electronic differential of the invention and active differential steering.
Fig. 4 is single neuron self-adaptive PID controller course angle controller architecture block diagram.
The road Tu5Wei Kua time model schematic diagram.
Fig. 6 is straight way operating condition simulation result schematic diagram.
Fig. 7 is straight way operating condition simulation result schematic diagram under different speeds.
Fig. 8 is bend operating condition simulation result schematic diagram.
Fig. 9 is comprehensive operating condition simulation result schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Present embodiment discloses a kind of In-wheel motor driving automobile deviation supplementary controlled system, the control system knots
Structure includes: upper layer dynamic boundary extendable strategy layer, middle layer control layer and bottom execution level.Extendable strategy layer is based on dynamic boundary can
It opens up the different deviation degree of decision-making foundation and divides different driving modes；The difference that middle layer control layer is divided according to decision-making level
Driving mode takes different control methods；The control amount that control layer decision goes out passes through active torque distribution by bottom execution level
Mode distributes to each hub motor, preferably realizes hub motor by using upper layer, middle layer, lower layer's muti-layer control tactics and drives
Electrical automobile deviation miscellaneous function.Upper layer extendable strategy layer, which improves previous fixation DLC, can open up boundary scheme, using nerve
Network algorithm, which is devised, can open up boundary with the dynamic DLC of speed, road curvature and coefficient of road adhesion variation preferably to fit
Answer more multi-state；Middle layer control layer is for the distinctive structure type design Electronic differential control device of In-wheel motor driving automobile and master
Dynamic differential steering controller, and it has been put forward for the first time the coordination control strategy of the two, meanwhile, the present invention considers not only vehicle and is entangled
Process when loop center, it is also considered that arrived vehicle and entangled safety problem after loop center line, i.e., vehicle is due to deviateing
Lane and while entangling loop center line by control system, may have a yaw angle, at this point, if driver is due to energy
It does not concentrate and fails to react in time, then the presence of this yaw angle is possible to draw after vehicle is entangled loop center line
Rise it is secondary deviate danger, for this purpose, vehicle course angle controller is devised, when being entangled loop center line for controlling vehicle
Yaw angle；Bottom execution level in order to improve vehicle run stability, using tire adhere to utilization rate minimum as optimization aim into
Row torque distribution.
Currently, fixed boundary is mainly set it to the DLC research that can open up boundary, however the fixed boundary DLC cannot
All operating conditions are well adapted to, boundary can be opened up the invention proposes a kind of dynamic DLC and be used to divide different driving modes, used
Neural network algorithm designs the boundary dynamic DLC changed with speed, road curvature and coefficient of road adhesion, the results showed that, this
The boundary dynamic DLC that invention proposes can well adapt to more multi-state, while can effectively improve vehicle under limiting condition
Control stability.
Due to the special structure type of In-wheel motor driving automobile, In-wheel motor driving Automobile Design deviation is assisted
When control system, it is important that be a little exactly electronic differential Yu active differential steering Harmonic Control, the present invention mentions for the first time
The coordination control strategy of the electronic differential and active differential steering for In-wheel motor driving automobile is gone out.
It is all at present to consider to entangle vehicle merely for the research of deviation supplementary controlled system and invention
Inclined process, without considering the state after vehicle is entangled loop center line.If vehicle is entangled loop center line
There are a yaw angles, and driver fails to react in time because energy is not concentrated at this time, then vehicle can occur secondary inclined
From danger, when the present invention is entangled loop center line for vehicle secondary deviations danger that may be present devise single neuron oneself
The course PID angle controller is adapted to control course angle when vehicle is entangled loop center line, avoids the dangerous hair of secondary deviation
It is raw.
It referring to Fig.1, is the general structure frame of the deviation supplementary controlled system of In-wheel motor driving automobile, mainly
The execution level of control layer, bottom including the decision-making level, middle layer that can open up.The decision-making level is according to across the road time boundary of vehicle
τ1、τ2And dynamic DLC boundary e1、e2, select a kind of driving mode to export to the control layer in three kinds of driving modes；Its
In, three kinds of driving modes are as follows: the only free driving mode of Electronic differential control device control, only active differential steering control
The active driving mode of device processed control, the Electronic differential control device and the active differential steering controller Collaborative Control it is auxiliary
Help driving mode.The control layer is formulated and the one-to-one three kinds of driving control methods of three kinds of driving modes, and according to
The driving mode of decision-making level's selection starts corresponding driving control method；Wherein, three kinds of driving control methods are as follows:
The Electronic differential control method of the only described Electronic differential control device control, the only described active differential steering controller control
The coordination of active differential steering control method, the Electronic differential control device and the active differential steering controller Collaborative Control
Control method.The execution level carries out torque distribution according to the driving control method that the control layer selects.
The control method of deviation supplementary controlled system corresponding with deviation supplementary controlled system includes following
Step:
According to across the road time boundary τ of vehicle1、τ2And dynamic DLC boundary e1、e2, one is selected in three kinds of driving modes
Kind driving mode output；Wherein, three kinds of driving modes are as follows: only Electronic differential control device control free driving mode,
Only active driving mode, the Electronic differential control device and the active differential steering of active differential steering controller control
The auxiliary driving mode of controller Collaborative Control；
Formulation and the one-to-one three kinds of driving control methods of three kinds of driving modes, and according to the driving mode of selection
Start corresponding driving control method；Wherein, three kinds of driving control methods are as follows: the only Electronic differential control device control
The Electronic differential control method of system, the active differential steering control method of the only described active differential steering controller control, institute
State the control method for coordinating of Electronic differential control device and the active differential steering controller Collaborative Control；
The torque distribution of vehicle is carried out according to the driving control method of selection.
Subsequently three big layers of the deviation supplementary controlled system of In-wheel motor driving automobile be situated between in detail one by one
It continues.
It referring to Fig.1, is the general structure frame of the deviation supplementary controlled system of In-wheel motor driving automobile, mainly
The execution level of control layer, bottom including the decision-making level, middle layer that can open up, subsequently makes introductions all round.
One, based on the extendable strategy layer of dynamic boundary extendable strategy
It is designed based on Extension Decision Theory using Neural Network Self-learning algorithm and is adhered to speed, road curvature and road surface
Different deviation degree is divided into different driving by Dynamic Extension boundary by the Dynamic Extension boundary of index variation
Mode is in turn divided into free driving mode, auxiliary driving mode and master according to the degree of automotive run-off-road is ascending
Dynamic driving mode, driver fully takes up driving initiative when free driving mode, when assisting driving mode, driver and control
System drives vehicle jointly, and active driving mode then fully relies on control system and drives vehicle.
One of important summary of the invention of deviation supplementary controlled system specifically includes as follows.
(1) minimum across road time t1It calculates.
Minimum across the road time refers to that vehicle is moved with lateral acceleration limit, needed for vehicle driving to lane line edge most
Short time, calculation formula are as follows:In formula, vytFor vehicle side velocity, aymaxLaterally accelerate for the vehicle limit
Degree.
Across road time tTIt calculates: across road time tTRefer to that vehicle is driven to needed for lane line edge with current side velocity
Time, schematic diagram are as shown in Figure 5.Calculation formula is as follows:
Wherein,For yaw angle；ylFor the distance of vehicle centroid to left-lane line；A is distance of the vehicle centroid to front axle；
lfFor front tread；yllFor the left front distance for taking turns to left-lane line.
(2) across road time boundary τ is determined1τ2。
Determine that across road time boundary determines abscissa τ in Fig. 21τ2Value, as across road time tT> t1When+t'+t ", recognize
As long as reacting in time for driver, fully relying on driver can be to avoid the generation of deviation.Work as t1+ t " < tT<
t1When+t'+t ", think that driver needs auxiliary system assistance just can be to avoid the generation of deviation at this time.Work as tT< t1+t”
When, driver not can avoid the generation of deviation, at this time, it may be necessary to fully rely on auxiliary system to avoid deviation.
In formula, t1For minimum across the road time, t' is time of driver's reaction, and t " is executing agency
Response time.
(3) dynamic DLC boundary e is determined1、e2。
Determine that the boundary DLC determines ordinate e in Fig. 21、e2Value.The present invention considers speed v, coefficient of road adhesion μ
And influence of the road curvature ρ to the boundary DLC, it is designed using BP neural network with speed, coefficient of road adhesion and road curvature
The dynamic DLC boundary function of variation.DLCThe different meanings, D are respectively represented from DLCLCIndicate across track pitch from (by taking the road Zuo Kua as an example,
DLCIndicate that vehicle keeps current running state, when the near front wheel drives to lane line edge from current location, what the near front wheel was passed through
Distance), and DLC (distance to lane centure) indicates that the distance away from lane center, value size are indicated with e.
Using three layers of feedforward network, the number of input layer is 3, respectively speed, coefficient of road adhesion and road
Curvature.Hidden layer neuron number is by empirical equationIt determines, wherein l is hidden layer neuron number, and n is
Input layer number, m are output layer neuron number；A is the regulating constant between 1~10.
Determine that hidden layer neuron number is 8 by above formula.Output layer neuron number is 2, the e in respectively Fig. 21And e2。
Enable input variable X=[x1(n)；x2(n)；x3(n)]；x1(n) speed v is indicated；x2(n) coefficient of road adhesion μ is indicated；
x3(n) indicate that road curvature ρ, n indicate sampling instant.The output y of kth layer(k)(n), (k=1,2,3) indicate, hidden layer and
The activation primitive of output layer is
The output of output layer is respectively
y1 (3)(n)=e1
y2 (3)(n)=e2
Neuron j (inputs n-th of training sample) in the n-th step iteration, and output error signal is defined as
ej(n)=dj(n)-yj(n)
dj(n) it is exported for target, yj(n) it is exported for network.
Define the cost function of network training
By analyzing a variety of different operating conditions, obtain one group about speed, coefficient of road adhesion, road curvature and
The target data sample on the boundary DLC changes to network weights coefficient using BP learning algorithm for the training to neural network
Generation amendment searches for adjustment by negative gradient direction of the ε (n) to weighting coefficient, and additional one makes to search for fast convergence global minimal
Momentum term.
In formula, η is learning rate, and α is factor of momentum, ωliFor the weighting coefficient of hidden layer and output layer.
(4) characteristic quantity is obtained.
After boundary determination can be opened up, the characteristic quantity (τ e) of current time vehicle is obtained,The road the JiτWei Kua time falls
Number, e are distance of the vehicle centroid away from lane center, being capable of more intuitive reacting vehicle-road deviation.
(5) correlation function is calculated:
The corresponding point of characteristic quantity (τ e) is P3Point, i.e. P3(τ e), O are coordinate origin.P1Point meaning: P3Point and coordinate origin O
The boundary in the line domain corresponding with driving mode free in Region place value of point is intersected, and crosspoint is P1。P2Point meaning: P3Point
And the boundary in the line of coordinate origin O point domain corresponding with driving mode is assisted in Region place value is intersected, and crosspoint is P2。
According to fig. 2, correlation function calculation formula is as follows:Wherein, X expression freely drives mould
The corresponding domain of formula, X1Indicate the corresponding domain of auxiliary driving mode, X2Indicate the corresponding domain of active driving mode, KsIndicate association letter
Number.
Ks> 1 indicates that characteristic quantity is in the corresponding domain of free driving mode, at this point, driver occupies complete initiative；0
< KsCharacteristic quantity is in the corresponding domain of auxiliary driving mode when < 1, and driver and control system drive vehicle simultaneously；KsIt is special when < 0
Sign amount has the initiative the corresponding domain of driving mode, and control system occupies driving initiative.To pass through correlation function KsWhat is be worth is big
The small departure degree and locating driving mode that can determine whether vehicle.
Two, the control layer in middle layer
Vehicle driving model is divided by upper layer extendable strategy layer, different control programs is selected in different driving modes.
Transmission shaft, retarder, mechanical speed difference device etc. are eliminated compared to orthodox car in structure for In-wheel motor driving automobile
Transmission mechanism, when being in free driving mode, driver operates steering wheel and turns to, in order to prevent when Vehicular turn or so
Wheel occurs trackslipping or dragging sliding phenomenon, devises Electronic differential control device.When have the initiative driving mode when, for hub motor
The feature for driving automobile four-wheel torque individually controllable designs active differential steering controller, by leading to four hub motors
Active steering is realized in dynamic torque distribution.Electronic vehicle speed controller and the control of active differential steering are realized in different driving modes
The switching of device and jointly control.Electronic differential control is used when free driving mode, assists using electronics poor when driving mode
Speed jointly controls with active differential steering, using the control of active differential steering when active driving mode.In order to realize electronic differential
Reasonably switch and combine between controller and active differential steering controller, has been put forward for the first time electronic differential and active is differential
Turn to coordination control strategy.The present invention considers not only automotive run-off-road and is entangled the process at loop center, it is also considered that
Safety problem after being entangled loop center to vehicle, since there are one when vehicle is entangled loop center line in order to prevent
Yaw angle and cause it is secondary deviate dangerous generation, devise single neuron self-adaptive PID controller course angle controller.Wherein, electronics
Differential controller and active differential steering controller coordinate work, and course angle controller works independently, as shown in Figure 1.Electronics is poor
The torque that the torque and course angle controller decision of fast controller and the work output of active differential steering controller coordinate go out is summed,
It is sent to the torque distribution controller of bottom execution level.
The two of the important summary of the invention of deviation supplementary controlled system, specifically include as follows.
(1) Electronic differential control device designs:
The present invention designs the Electronic differential control device based on ideal yaw velocity using sliding formwork control, presses to driving motor
Torque instruction is controlled, and is kept vehicle wheel rotational speed servo-actuated, is realized the auto―adaptive test of each wheel.
According to vehicle two degrees of freedom reference model, when driver inputs a steering wheel angle, it can be deduced that a phase
The yaw velocity ω of prestiged, it is expected that the deviation of yaw velocity and practical yaw velocity generates one instead by sliding formwork control
Torque is presented, gives this Torque distribution to each hub motor, each wheel speed is servo-actuated, makes practical yaw velocity ωrTracking expectation is horizontal
Pivot angle speed, calculating process are as follows.
The vehicle two degrees of freedom reference model differential equation:
In formula, k1、k2It is respectively forward and backward
The cornering stiffness of wheel；β is side slip angle；A, b is respectively distance of the mass center to antero posterior axis；M is complete vehicle quality；IzVehicle around
The rotary inertia of z-axis.
Corner δ is inputted according to steering wheelf, ideal yaw velocity can be calculated by the above vehicle two-freedom model
ωd,
Design sliding-mode surface equation are as follows: s=ωd-ωr。
Choose exponentially approaching rule:
Since Electronic differential control device proposed by the invention is it is expected its tracking by applying a torque to vehicle
Above-mentioned vehicle two degrees of freedom reference model differential equation is rewritten as by yaw velocity
The above-mentioned formula of simultaneous obtains the output of Electronic differential control device are as follows:
(2) active differential steering controller design
In view of sliding formwork control has stronger robustness, still using sliding formwork control design active differential steering control
Device chooses the yaw angle at vehicle current timeAnd the lateral shift Y at taking aim in advancelDeviate the two of state as evaluation vehicle
A amount, and sliding-mode surface equation is designed according to the two amounts:
It enables
It designs active differential steering and controls sliding-mode surface equation:In formula, kc2For constant coefficient.
Choose exponentially approaching ruleIn the present embodiment, designed sliding formwork
Controller uses exponentially approaching ruleWherein s is sliding-mode surface equation, and k, ε are that two of exponentially approaching rule are
Number, sgn is sign function.
In conjunction with the improved vehicle two degrees of freedom reference model differential equation, the output of active differential steering controller is obtained
Are as follows:
In formula,
(3) electronic differential and active differential steering coordination control strategy:
When being in free driving mode, only Electronic differential control device works.At this point, defeated if there is steering wheel angle
Fashionable, Electronic differential control device will generate the differential that an auxiliary yaw moment realizes four-wheel.
When in auxiliary driving mode, Electronic differential control device is worked at the same time with active differential steering controller.At this point,
Active differential steering controller is part intervention work, exports yaw moment are as follows: M=Mb+KsMz, wherein M is that total output is horizontal
Put torque, MbFor the yaw moment that Electronic differential control device decision goes out, MzThe sideway force spent for principal moment turn to controller decision
Square, KsFor correlation function, 0 < K at this times<1。
When in auxiliary driving mode, if driver inputs a steering wheel angle δ at this timef, then electronic differential control
Device meeting decision processed goes out a torque Mb, meanwhile, when auxiliary drives active differential steering controller also can decision go out a torque
KsMz.In the case where the two torques act on simultaneously, vehicle can be made to generate a yaw velocity ωr.And the mesh of Electronic differential control device
Be exactly to allow practical yaw velocity ωrTracking expectation yaw velocity ωd.If vehicle is in yaw moment MbAnd KsMzIt is common to make
With the practical yaw velocity ω of lower generationr< ωd, found through analysis, at this time MbWith KsMzDirection is identical, i.e. ωr< ωdWhen,
The two can be superimposed work simultaneously；If vehicle is in MbAnd KsMzThe yaw velocity ω generated under collective effectr> ωd, by dividing
Analysis discovery, Electronic differential control device is at this time in order to allow ωrω in trackingd, one and K can be generatedsMzContrary torque MbWith
Make ωrReduce, will increase the danger that vehicle deviates from lane in this way.So working as ω when assisting driving moder> ωdElectronics
Differential controller will stop working.Meanwhile when between vehicle-to-target path there are when a bias, according to current time vehicle
Yaw angle and the lateral shift at taking aim in advance can calculate a desired steering wheel angle δd, δdCalculating process
It is as follows.
Yaw velocity ω according to vehicle current timer, speed vx, side slip angle β and road curvature ρ find out and work as
The yaw angle of front position vehicle and at taking aim in advance vehicle lateral deviation.
Lateral deviation at being integrated to obtain the yaw angle of current vehicle position and being taken aim in advance.WhereinIndicate current
The yaw angle of position, YlIndicate the lateral deviation at taking aim in advance, lsIndicate preview distance.Take aim at the time in advance:It is known pre- to take aim at
Lateral deviation Y at pointl, at this point, if one ideal steering wheel angle δ of selectiond, vehicle will generate a side acceleration ay, make
It obtains lateral deviation and is reduced to zero within preview distance.
According to vehicle kinematics relationship, it is as follows that ideal steering wheel angle can be acquired:Wherein L
For vehicle wheel base, i is steering system transmission ratio.
If driver inputs a steering wheel angle δ at this timefWith δdIt is contrary, then illustrate that driver accidentally grasp
Make, at this point, Electronic differential control device stops working.
When have the initiative driving mode when, active differential steering controller completely intervenes work, when vehicle once enter master
Dynamic driving mode, Electronic differential control device stop working at once, all intervention work of active differential steering controller.Electronic vehicle speed
Controller and active differential steering controller coordinate control strategy are as shown in Figure 3.
(4) course angle controller
The present invention entangled loop center in view of vehicle after safety problem, when vehicle-to-target path occur it is certain
Deviation after, auxiliary system can rectify a deviation to vehicle, be returned to lane center.But due to auxiliary system to vehicle into
When row correction, it is applied to one, vehicle additional auxiliary yaw moment, this additional auxiliary yaw moment makes vehicle body generate one
A pivot angle around z-axis, due to the presence of this pivot angle, when vehicle, which is entangled, returns to lane center, vehicle body longitudinal axis and lane
Center line is simultaneously not parallel, but there are a yaw angles, if driver fails to make in time since energy is not concentrated at this time
Reaction, then the presence of this yaw angle may result in the secondary deviation of vehicle generation.Pass through analysis, above situation table on straight way
It is existing particularly evident, it shows and is not obvious on bend, this is because desired course angle changes constantly in bend.Institute
Secondary deviation occurs with vehicle in order to prevent, the present invention is directed under straight way operating condition and devises single neuron self-adaptive PID controller course angle
Controller controls course angle during vehicle is entangled loop center line, makes its yaw angle 0, to prevent
Vehicle secondary deviates dangerous generation.
When vehicle will be entangled loop center line, vehicle is generally in free driving mode, at this point, driver occupies
It is complete to drive initiative, in order to avoid designed course angle controller to generate interference to driver as far as possible, while can also
It avoids vehicle that secondary deviation occurs, needs to set following trigger condition to course angle controller:
(1) road curvature ρ=0；
(2) derivative of the absolute value of transversal displacement e
(3) correlation function Ks>1；
(4) yaw angle of the vehicle in current location
Condition (1) guarantees that course angle controller triggers on straight way；Condition (2) guarantees that course angle controller is close in vehicle
It triggers during lane center, and is not triggered when vehicle is far from lane center, condition (2) primarily to keep away as far as possible
Exempt from the interference to driver；Condition (3) ensure that controller only in free driving mode (i.e. near the lane center) stage
Triggering；Condition (4) guarantees vehicle, and there are triggerings when yaw angle near lane center.When above four conditions meet simultaneously,
Course angle controller can just trigger starting work.
Classical PID control three parameters be it is fixed, when external environment changes frequent occurrence, its control effect can become
Difference, while it is also required to have accurate mathematical model.For classical PID control deficiency, the present invention by single neuron with
Classical PID control combines, and establishes single-neuron adaptive PID controller and controls course angle.Pass through neuronal synapse
The adjustment of weight can be adaptive adjusting PID controller three parameters to adapt to the variation of external environment.
Single neuron self-adaptive PID controller course angle controller architecture is as shown in Figure 4.
In Fig. 4, the input of converter is desired course angle and actual heading angle, the output of converter are as follows:E (n)=desired course angle-actual heading angle in formula.
The synaptic weight ω of neuronj(n) it is respectively as follows:
Using unsupervised Hebb learning rules, the synaptic weight of neural network is corrected are as follows:
Wherein, ηp, ηi, ηdRespectively ratio, integral, differential coefficient learning rate.
The control law that single-neuron adaptive PID controller can be obtained from above is
Electronic differential control device and active differential steering controller coordinate work, and yaw angle controller works independently, such as Fig. 1
It is shown.Yaw torque and Electronic differential control device that angle controller decision goes out and the force that active differential steering controller decision spendes
Square summation, the control moment after summing are sent to the torque distribution controller of bottom executing agency.
In conclusion the two of the important summary of the invention of deviation supplementary controlled system provide a kind of In-wheel motor driving
The electronic differential of automobile and the control method for coordinating of active differential steering.The In-wheel motor driving automobile has a lane inclined
From supplementary controlled system, the deviation supplementary controlled system is equipped with: what only Electronic differential control device controlled freely drives
Mode, active driving mode, the Electronic differential control device and the principal moment of only active differential steering controller control
The auxiliary driving mode of dynamic steering controller Collaborative Control.
The control method for coordinating is applied in the auxiliary driving mode, and the control method for coordinating includes following step
Suddenly.
Step S11, the steering wheel angle δ inputted according to driverf, calculate ideal yaw velocity ωd。
Step S12, the Electronic differential control device is according to yaw velocity ωd, calculate torque Mb。
Step S13, the active differential steering controller export a torque K in the auxiliary driving modesMz,
In, KsFor correlation function, 0 < Ks< 1, MzThe yaw moment gone out for the active differential steering controller decision.
Step S14 judges torque MbDirection and torque KsMzDirection it is whether identical；Torque MbDirection and torque KsMz
If direction it is identical, then follow the steps S15.
Step S15 detects the practical yaw velocity ω of vehicler。
Step S16, judges whether ωr<ωd；It is to then follow the steps S17, it is no to then follow the steps S18.
Step S17, the Electronic differential control device and the active differential steering controller control simultaneously.
Step S18, the Electronic differential control device stop control.
Step S19, when there are a yaws when bias, according to vehicle in current location between vehicle-to-target path
AngleAnd vehicle with take aim in advance at lateral deviation YlExport a desired orientation disk corner δd；Wherein, δdAre as follows:Wherein, L is vehicle wheel base, and i is steering system transmission ratio, lsIt is vehicle away from the preview distance at taking aim in advance.
Step S110, judges δfDirection and δdDirection it is whether opposite；If on the contrary, thening follow the steps S18.
Step S111 adjusts the PID of the deviation supplementary controlled system according to desired course angle and actual heading angle
Ratio control parameter, integration control parameter, the differential control parameter of course angle controller；
Wherein, when vehicle will be entangled loop center line, and when meeting the following conditions, start the PID course angle
Controller:
(1) road curvature ρ=0；
(2) derivative of the absolute value of the transversal displacement e of vehicle
(3) correlation function Ks>1；
(4) yaw angle of the vehicle in current location
According to desired course angle and actual heading angle, design meets three output signal x of following formula1(n)、x2(n)、
x3(n),
Wherein, e (n)=desired course angle-actual heading angle；
To three output signal x1(n)、x2(n)、x3(n) learnt using neural network, and replaced respectively after study
The ratio control parameter, the integration control parameter, the differential control parameter.
Three, the execution level of bottom
Execution level mainly includes torque distribution controller and four hub motors, and torque distribution controller receives control layer hair
The torque instruction sent, and assign them to four hub motors.
The three of the important summary of the invention of deviation supplementary controlled system, specifically include as follows.
(1) torque distribution controller
In torque assigning process, to guarantee that automobile has preferable stability, the rate of load condensate and adhesive force of tire are considered
Between relationship, using road surface attachment consumption rate minimum as optimization aim, objective function is defined as:
In formula, i=fl, fr, rl, rr respectively indicate it is left front, right before, left back, right rear wheel, FziFor each wheel vertical force, Ci
For the weight coefficient of each wheel torque distribution, ReffFor radius of wheel.
Distribution is optimized to hub motor torque using QUADRATIC PROGRAMMING METHOD FOR.When carrying out torque optimization distribution, meeting
Also to be adhered to by road surface under the premise of the torque instruction of upper layer and motor maximum output torque is limited, restrictive condition is as follows.
In formula, δ is front wheel angle, TmaxFor motor peak torque, TqFor total longitudinal force demand, M is total yaw moment
Demand.
That is, optimized according to the torque command that the deviation supplementary controlled system is sent, after obtain it is each
Hub motor target torque Tfl、Tfr、Trl、Trr.The torque command includes the total yaw moment M of whole hub motors and complete
The total zigzag tread patterns torque T of portion's hub motorq, optimization process is as follows:
TiFor the target torque for distributing to each motor, i=fl, fr, rl, rr respectively indicate it is left front, right before, it is left back, right after
The hub motor of wheel, Tfl、Tfr、Trl、TrrRespectively indicate distribute to it is left front, right before, left back, right rear wheel hub motor
Target torque；FziFor each wheel vertical force, CiFor the weight coefficient of each wheel torque distribution, ReffFor radius of wheel, μ is road surface attachment
Coefficient, δ are front wheel angle, and c is wheelspan；TmaxFor motor peak torque, r is wheel effective rolling radius.
(2) hub motor model
The present invention, as hub motor, establishes corresponding motor model using permanent magnetic brushless.Due to brushless, permanently electricity
Motor model rapidly, is reduced to a second-order system by the torque closed-loop control response of machine:
T in formulamiFor motor output torque, TwiFor target torque, parameter of electric machine ξ is by motor pole logarithm P, electric motor resistance
R, rotor flux φ, self-induction Ls, mutual inductance Lm, driving circuit switch periods TpEtc. parameters determine, the present invention in take ξ=0.05.
Torque distribution controller receives the torque command that control layer is sent, and using road surface attachment consumption rate minimum as excellent
Change target and obtained each hub motor target torque is sent to each motor.
In-wheel motor driving automobile deviation supplementary controlled system is in emulation, as shown in fig. 6, operating condition speed is 20m/
S, coefficient of road adhesion 0.85, lane width 3.5m, rectilinear stretch, driver's maloperation inputs one in 20-24s
20 ° of step steering wheel angle.Curve shows that maximum offset is 0.83m from 6 figures, without departing from lane out, blue solid lines
Show course angle controller can be effectively prevented it is secondary deviate danger, black dotted lines show no course angle controller intervention
When, it is dangerous that secondary deviation has taken place in vehicle 34s.
The simulation result being illustrated in figure 7 under different speeds again, in addition to speed is different, other operating conditions are the same as operating condition shown in Fig. 6
Identical, three curves show that vehicle is all without departing from lane out under different speeds in Fig. 7.
Emulate operating condition as shown in Figure 8 again: bend operating condition, coefficient of road adhesion 0.85, road width 3.5m drive on bend
The person of sailing does not operate, the results showed that maximum offset 0.87m, without departing from lane out.
Operating condition as shown in fig. 9 again are as follows: the validity that boundary can be opened up for the designed dynamic DLC of verifying, on curvature and road
On all changed road surface of face attachment coefficient, vehicle slowly accelerates to 100km/h from 0 in 0~50s, and driver is without operation.
Simulation result is as shown in figure 9, simulation result shows that vehicle is without departing from lane out when the dynamic boundary DLC.The fixation that dotted line indicates
Vehicle deviates from lane under the boundary DLC.
In conclusion the present invention is based in the advantage for making full use of In-wheel motor driving automobile four-wheel torque individually controllable
Dynamic boundary extendable strategy devises the deviation supplementary controlled system that four-wheel active differential steering and electronic differential are coordinated,
Designed deviation supplementary controlled system includes decision-making level, control layer and execution level.Decision-making level, which is mainly based upon, can open up reason
By, with neural network algorithm devise with speed, road curvature and coefficient of road adhesion change Dynamic Extension boundary, root
Different driving modes is divided according to the different departure degree of vehicle.
Control layer mainly includes Electronic differential control device, active differential steering controller.It is real in different driving modes
Existing electronic differential individually controls or jointly controls with active differential steering, has been put forward for the first time the coordination control strategy of the two.It examines
Consider the safety problem after vehicle is entangled loop center, it can be inclined due to existing when being entangled loop center line for vehicle
Boat angle and to cause vehicle to occur secondary deviations dangerous, devise single neuron self-adaptive PID controller course angle controller, and be to keep away as far as possible
Exempt to generate interference to driver, sets the trigger condition of course angle controller.
Execution level mainly includes torque distribution controller and each actuating motor, and torque distribution controller is adhered to road surface to be utilized
Rate is minimum to be used as design object, is allocated to four wheel hub motor torques.
In-wheel motor driving automobile deviation supplementary controlled system proposed by the present invention makes full use of four-wheel hub motor
Torque is individually controllable and responds rapid advantage, by realizing deviation miscellaneous function to four-wheel progress active torque distribution,
It efficiently solves orthodox car and is based on existing driver and control system phase when turn-around design deviation supplementary controlled system
Mutually the problem of interference.It is existing when also solving orthodox car simultaneously based on differential braking progress deviation auxiliary that speed is produced
Raw the problem of influencing.The dynamic DLC proposed, which can open up boundary, can well adapt to more multi-state, while can also improve vehicle
Control stability under limiting condition.The electronic differential and active differential steering coordination control strategy proposed can rationally effectively
Two controller of coordination between work relationship.The yaw angle controller proposed can effectively prevent vehicle secondary from deviateing danger
The generation of danger.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of electronic differential of In-wheel motor driving automobile and the control method for coordinating of active differential steering, the hub motor
Drive automobile to have a deviation supplementary controlled system, the deviation supplementary controlled system is equipped with: only electronics is poor
Active driving mode, the electronics that the free driving mode of fast controller control, only active differential steering controller control
The auxiliary driving mode of differential controller and the active differential steering controller Collaborative Control；The control method for coordinating application
In the auxiliary driving mode,
It is characterized in that, the control method for coordinating the following steps are included:
Step S11, the steering wheel angle δ inputted according to driverf, calculate ideal yaw velocity ωd；
Step S12, the Electronic differential control device is according to yaw velocity ωd, calculate torque Mb；
Step S13, the active differential steering controller export a torque K in the auxiliary driving modesMz, wherein Ks
For correlation function, 0 < Ks< 1, MzThe yaw moment gone out for the active differential steering controller decision；
Step S14 judges torque MbDirection and torque KsMzDirection it is whether identical；Torque MbDirection and torque KsMzSide
If thening follow the steps S15 to identical；
Step S15 detects the practical yaw velocity ω of vehicler；
Step S16, judges whether ωr<ωd；It is to then follow the steps S17, it is no to then follow the steps S18；
Step S17, the Electronic differential control device and the active differential steering controller control simultaneously；
Step S18, the Electronic differential control device stop control.
2. the electronic differential of In-wheel motor driving automobile as described in claim 1 and the coordinated control side of active differential steering
Method, which is characterized in that further include:
Step S19, when there are a yaw angles when bias, according to vehicle in current location between vehicle-to-target path
And vehicle with take aim in advance at lateral deviation YlExport a desired orientation disk corner δd, δdAre as follows:Wherein, L
For vehicle wheel base, i is steering system transmission ratio, lsIt is vehicle away from the preview distance at taking aim in advance；
Step S110, judges δfDirection and δdDirection it is whether opposite；If on the contrary, then follow the steps S18, if identical,
Execute step S16.
3. the electronic differential of In-wheel motor driving automobile as described in claim 1 and the coordinated control side of active differential steering
Method, which is characterized in that the control method for coordinating further include:
Step S111 adjusts the course PID of the deviation supplementary controlled system according to desired course angle and actual heading angle
Ratio control parameter, integration control parameter, the differential control parameter of angle controller；
Wherein, when vehicle will be entangled loop center line, and when meeting the following conditions, start the PID course angle control
Device:
(1) road curvature ρ=0；
(2) derivative of the absolute value of the transversal displacement e of vehicle
(3) correlation function Ks>1；
(4) yaw angle of the vehicle in current location
According to desired course angle and actual heading angle, design meets following formula:
Wherein, e (n)=desired course angle-actual heading angle, n are sampling
Moment；x1(n) speed v is indicated；x2(n) coefficient of road adhesion μ is indicated；x3(n) road curvature ρ is indicated；
To x1(n)、x2(n)、x3(n) learnt using neural network, and replace the ratio control ginseng respectively after study
Several, the described integration control parameter, the differential control parameter.
4. the electronic differential of In-wheel motor driving automobile as described in claim 1 and the coordinated control side of active differential steering
Method, which is characterized in that torque MbDirection and torque KsMzDirection if on the contrary, if the Electronic differential control device stop control
System.
5. the electronic differential of In-wheel motor driving automobile as described in claim 1 and the coordinated control side of active differential steering
Method, which is characterized in that in step s 11, if δf=0, then the Electronic differential control device stops control.
6. the electronic differential of In-wheel motor driving automobile as described in claim 1 and the coordinated control side of active differential steering
Method, which is characterized in that ωdAre as follows:Wherein, vxIndicate speed；L is vehicle wheel base；KsIndicate association letter
Number.
7. the coordinated control of the electronic differential and active differential steering of In-wheel motor driving automobile as described in claim 1 or 6
Method, which is characterized in that KsAre as follows:
Wherein, k1、k2The cornering stiffness of respectively forward and backward wheel；A, b be vehicle centroid respectively extremely
The distance of axle；M is complete vehicle quality；L is vehicle wheel base.
8. the electronic differential of In-wheel motor driving automobile as described in claim 1 and the coordinated control side of active differential steering
Method, which is characterized in that MbAre as follows:
Wherein, IzFor
Rotary inertia of the vehicle around z-axis；A, b is vehicle centroid respectively to the distance of axle；k1、k2The side of respectively forward and backward wheel
Inclined rigidity；β is side slip angle；ωrFor practical yaw velocity；vxIndicate speed；Designed sliding mode controller uses index
Reaching LawWherein s is sliding-mode surface equation, and k, ε are two coefficients of exponentially approaching rule, and sgn is symbol letter
Number.
9. the electronic differential of In-wheel motor driving automobile as described in claim 1 and the coordinated control side of active differential steering
Method, which is characterized in that MzAre as follows:
Wherein, vxIndicate speed；η1For lateral deviation coefficient at taking aim in advance, η2For heading angle deviation coefficient, ρ is road curvature,
It is led for the single order of ρ,Yaw angle for vehicle in current location,ForSingle order lead, k1、k2The side of respectively forward and backward wheel
Inclined rigidity；YlFor vehicle in advance take aim at lateral deviation,For YlSingle order lead, lsFor vehicle away from pre- at taking aim in advance take aim at away from
From designed sliding mode controller uses exponentially approaching ruleWherein s is sliding-mode surface equation, and k, ε are to refer to
Two coefficients of number Reaching Law, sgn is sign function；β is side slip angle；ωrFor practical yaw velocity；vxIndicate speed；
IzIt is vehicle around the rotary inertia of z-axis；
10. a kind of electronic differential of In-wheel motor driving automobile and the cooperative control device of active differential steering, which is characterized in that
It uses the electronic differential and active differential steering of In-wheel motor driving automobile as in one of claimed in any of claims 1 to 9
Control method for coordinating, the cooperative control device includes:
Ideal yaw velocity ωdAcquiring unit is used for the steering wheel angle δ inputted according to driverf, calculate reason
Think yaw velocity ωd；
Torque MbAcquiring unit is used for the Electronic differential control device according to yaw velocity ωd, calculate torque Mb；
Torque KsMzAcquiring unit is used for the active differential steering controller and exports one in the auxiliary driving mode
Torque KsMz, wherein KsFor correlation function, 0 < Ks< 1, MzThe yaw moment gone out for the active differential steering controller decision；
Judging unit one is used to judge torque MbDirection and torque KsMzDirection it is whether identical；
Detection unit is used to detect the practical yaw velocity ω of vehicler；Wherein, torque MbDirection and torque KsMzSide
If starting detection unit to identical；
Judging unit two is used to judge whether ωr<ωd；
Decision output unit, is used for ωr<ωdWhen, make the Electronic differential control device and the active differential steering controller
It controls simultaneously；ωr>ωdWhen, so that the Electronic differential control device is stopped control.
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