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Considering the redundancy advantages of the drive system in all-electric drive-brake electric vehicles, the paper focuses on the electric vehicles equipped with a novel distributed steer-by-wire system. The differential drive assisted steering (DDAS) and assisted return-to-center characteristics are studied after the steering motor fails. The DDAS control strategy for reference steering wheel torque tracking is developed using an adaptive fuzzy PID algorithm. The assisted return-to-center control strategy for steering wheel angle tracking is formulated based on a PID algorithm. To adaptively adjust the assist return torque at various vehicle speeds in this strategy, the PID parameters are optimized using a particle swarm optimization algorithm with adaptive weights and learning factors. An 8 DOF vehicle model, a driver model, a steering system model and a motor model are constructed by using Matlab/Simulink/Simscape. The effects of assisted steering and return-to-center on the studied vehicle are verified through simulations. The results show that the steering wheel torque can be decreased by 54.3%, 48.7% and 40.7% under step, double lemniscate and sine conditions, respectively. The road feel of the vehicle at high speed can be improved effectively. And the differential torque can assist in returning the steering wheel to center under hands-off and return-to-normal conditions.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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