现有的六轮铰接式电动轮自卸车差速控制策略只是简单地实现差速，且其忽略 整车横摆控制和驱动防滑控制而导致整车动力学性能较差．为此，提出了基于驱动力分层 控制的差速控制策略．首先基于拉格朗日方程法推导了包含整车纵向、侧向、横摆及前车 身侧倾自由度的整车动力学数学模型，然后设计由总驱动功率及横摆控制功率决策层、差 动驱动分配层和驱动防滑稳定层组成的分层控制差速控制策略．文中运用自抗扰控制算 法计算出纠正转向角偏差所需的横摆控制功率，采用最优滑移率识别算法对各轮驱动功 率进行修正．离线仿真结果表明，所提差速控制策略在不同工况和路面下均能很好地实现 各轮差速，同时保证了较好的整车转向性能和各轮工作的稳定性能．

The existing differential control strategies for the articulated dump truck with six electric wheels can simply achieve differential velocity.Moreover,they ignore yaw control and acceleration slip regulation,which causes the whole truck to show a poor dynamic performance.In order to solve these problems,a differential control strategy on the basis of the hierarchical control of driving force is proposed.Firstly,a dynamic mathematical model of the whole truck containing longitudinal,lateral,yaw and roll degrees of freedom is derived on the basis of Lagrange equation method.Then,the differential control strategy on the basis of the hierarchical control of driving force is designed,which is composed of the decision layer for total driving power and yaw control power,the distribution layer for differential drive and the stability layer for acceleration slip regulation.Finally,active disturbance rejection control algorithm is used to calculate the needed yaw control power to eliminate steering angle deviation,and optimal slip ratio recognition algorithm is used to amend the driving power of each wheel.The offline simulation results show that the proposed strategy can better realize the differential velocity of each wheel under different working conditions on the roads of different adhesion coefficients,and it can ensure better steering performance of the whole truck and better stability of each wheel.