Differential Steering Strategy for Distributed Drive Vehicle with Double Rear Steering Bridges Based on Sliding Mode Control

The multi-axle double rear bridges differential steering vehicle using the Proportion Integration Differentiation control (PID) has some problems, such as slow angular response, overshoot and weak anti-disturbance. In this paper, the dynamic model of multi-axle vehicle with double rear steering bridges is established, the dynamic characteristics of dual-differential steering bridge are analyzed, and the differential steering strategy for distributed drive vehicle with double rear steering bridges based on sliding mode control (SMC) is proposed: By estimating the lateral velocity of the vehicle, the slip angles of tire are obtained, and with the angle following as the target, the torques of motors of the steering bridge are distributed by the SMC. Finally, the steering conditions with external interference are establish with Simulink for simulation experiments. The results indicate that compared with PID control, the strategy can significantly improve the response quality of the differential steering angle and the ability to resist external interference.