Inter-wheel differential anti-dragging control method during steering of distributed independently driven electric vehicle

The invention discloses an inter-wheel differential anti-dragging control method during steering of a distributed independently driven electric vehicle, the method is characterized by comprising the following steps: S1, acquiring the wheel speed of driving wheels during steering of the vehicle; s2, taking the wheel speed of one driving wheel as a reference wheel speed, and reversely deducing decision expected wheel speeds of other driving wheels according to an Ackermann steering model; s3, the output torque of each motor for driving the wheels is controlled by a PI controller, the input of the PI controller is the difference value between the real-time wheel speed of the driving wheels and the wheel speed expected by decision, the output of the PI controller is the output torque coefficient of the motors, the proportional parameter of the PI controller is preset, iIntegral parameters of the PI controller are controlled by a fuzzy controller; the output of the fuzzy controller is an integral parameter, and th