发表机构
School of Mechanical Engineering, Shanghai Jiao Tong University; School of Mechanical and Aerospace Engineering, Nanyang Technological University（上海交通大学机械工程学院; 南洋理工大学机械与航天工程学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究针对无舵四轮独立驱动车辆，提出基于双轨车辆模型的差动扭矩漂移控制方法，经仿真和实验验证，该方法能使车辆实现特定角度的稳定圆周漂移及8字漂移跟踪，证明了仅用差动轮扭矩漂移控制的可行性。
AI 中文摘要
新兴车辆底盘架构的控制方法对接近操控极限的自动驾驶至关重要。与依赖机械转向和后轮胎饱和的传统漂移控制不同，无舵四轮独立驱动（4WID）车辆可通过差动轮扭矩产生直接横摆力矩。本文为此类车辆提出一种差动扭矩漂移控制方法。建立了包含四轮差动驱动的双轨车辆模型，在此基础上开发了漂移平衡计算方法和闭环漂移控制器。通过对1:10比例车辆的仿真和实验验证了该方法。结果表明车辆能以约20°的侧偏角实现稳定圆周漂移并进行8字漂移跟踪。本研究证明了仅用差动轮扭矩进行漂移控制的可行性，并为无舵车辆架构的近极限控制提供了新视角。
英文摘要
Control methods for emerging vehicle chassis architectures are important for autonomous driving near handling limits. Unlike conventional drift control, which relies on mechanical steering and rear-tire saturation, a steering-free four-wheel independently driven (4WID) vehicle can generate direct yaw moment through differential wheel torques. This paper proposes a differential-torque drift control method for such a vehicle. A double-track vehicle model incorporating four-wheel differential actuation is established, based on which a drift-equilibrium calculation method and a closed-loop drift controller are developed. The proposed approach is validated through simulations and experiments on a 1:10-scale vehicle. The results show that the vehicle can achieve steady circular drifting with a sideslip angle of approximately 20$^\circ$ and perform figure-eight drift tracking. This study demonstrates the feasibility of drift control using only differential wheel torques and provides a new perspective on near-limit control for steering-free vehicle architectures.
