利用分布式驱动铰接车各轮独立驱动的特点，提出了铰接车的整车刚性化差动转向方式，构建了以液压转向为主、差动转向为辅的复合转向模式。建立了铰接车差动转向的动力学模型，获得了铰接车行驶转向阻力与差动力矩的关系|以铰接车前车体差动转向为例，研究了差动力矩的分配方法，制定了铰接车差动辅助转向的控制策略。根据铰接车辆在单移线道路的仿真，对比分析了有差动、无差动控制下的液压转向系统能耗和电机能耗等。仿真结果表明，在不同载重、不同时速的转向工况下，通过合理地分配铰接车各轮转矩，电液复合转向方式可实现铰接车的有效节能。

This paper proposes a rigid differential steering of articulated vehicle by taking advantage of hub motor characteristic of distributed-drive articulated vehicle, and constructs an electro-hydraulic hybrid steering mode with hydraulic steering as the main and with differential steering as the auxiliary. The differential steering dynamic model of articulated vehicle is established to reveal the relationship between cornering resistance and differential torque, and, by taking the differential torque acting on the front body of articulated vehicle as an example, the torque distribution method of each wheel torque is investigated and used to formulate the control strategy of hybrid steering system. Moreover, the articulated vehicle is simulated along the single lane changing path, and the energy consumptions are evaluated and compared for the hydraulic steering system and the motor with and without differential steering. Simulation results show that the electro-hydraulic hybrid steering mode can realize the effective energy saving of articulated vehicle under different load and speed conditions.