摘要 随着全球能源危机加深和日趋严峻的环境污染，传统汽车面临重重障碍，汽 车的发展不得不寻求新的方向。轮毂驱动电动汽车凭借其电能来源广泛、结构简 单、传动效率高及各驱动轮能独立控制等优点而备受关注。 然而，由于轮毂驱动电动汽车去掉了传统内燃机汽车具备的机械差速器，在 具备结构简单、更多控制自由度等优点的同时，随之也产生了汽车转向行驶时驱 动轮之间协调控制的问题―电子差速问题。因此，为保证整车操纵稳定性和安全 性，避免车辆在转向行驶时因车轮滑转或滑移导致整车失控，必须采用电子差速 控制系统对各驱动轮进行协调控制。 本课题根据上述背景，针对前轮转向、两后轮分别采用轮毂电机独立驱动...As the global energy crisis deepened and increasingly severe environmental pollution, the traditional car is facing obstacles, and the development of the car had to seek new directions. Wheel drive electric car, with its power source widely, simple structure, high transmission efficiency and the drive wheels can control independently, has attracted much attention. However, due to the wheel dr...学位：工学硕士院系专业：航空航天学院_车辆工程学号：1992014115288
