摘要：对两前轮为转向轮，后两轮为轮毂电机独立驱动电动车的直线行驶和转向时的电子差速控制进行研究。通过对转向系统的运动学进行分析，依据转向传感器信号及四轮转速变化，构建了后轮毂电机独立驱动电动车的控制系统，提出以两前轮转速差为两后轮转速差控制目标，快速并准确判断汽车的行驶状况，利用PID精确控制，通过PWM对两后轮毂电机转速进行控制，实现汽车行驶要求。运用Matlab/Simulink软件进行仿真分析，结果表明，该控制系统设计正确，能够满足电动车的行驶要求，具有良好的操控性能。
Abstract: This paper studied straight and steering electrical differential system for frontwheel steering and rear inwheel motor independent drive EV. On the basis of kinematics of steering,depend on rotation direction sensor signal and the change of four wheel speed,a control system of rear Inwheel motors independent drive EV was established,which took the two frontwheels speed difference as the object of two rearwheels speed difference, judged transport condition of EV fleetly and accurately, utilized PID controllers, controled rear Inwheel motors speed by PWM, and realized driving request of vehicle. Carry out simulations with Matlab/simulink to analyse, the result shows the accuracy of control system, satisfies driving request and has good maneuvering.

Key words: inwheel motor；electric vehicle；electrical differential system