一种新的四轮独立转向独立驱动的电动车建模  

A novel modeling for four-wheel-independent-driving and four-wheel-independent-steering electric vehicle

作　　者：邱浩[1,2] 雷正保[1] 贺萍[2] 

机构地区：[1]长沙理工大学汽车与机械工程学院,长沙410004 [2]深圳职业技术学院汽车与交通学院,广东深圳518055

出　　处：《扬州大学学报（自然科学版）》2014年第3期74-78,共5页Journal of Yangzhou University：Natural Science Edition

基　　金：国家自然科学基金资助项目(51175050);广东省自然科学基金资助项目(S2011010002534);深圳市技术创新研究资助项目(CXZZ20120617143011586)

摘　　要：根据刚体力学原理,利用试验车实际参数,提出一种基于矢量空间的四轮独立转向、四轮独立驱动的电动车建模方法.在相同的方向盘输入和电油门输入的情况下,分别采集模型仿真与实车实验输出的速度、横摆角速度、质心侧偏角数据,通过2组数据的比较验证了数学模型的准确性.利用建立的数学模型,分析高速状态下后轮转角对电动车的质心侧偏角和横摆角速度的影响.从试验结果可以看出,实施对后轮转角的控制可以有效改变电动车的质心侧偏角特性和横摆特性.A novel method for modeling of four-wheel-independent-driving and four-wheel-independ- ent-steering electric vehicle is presented based on rigid body mechanics principle and parameters of a real car. Velocity, yaw speed and vehicle sideslip angle are collected from both real vehicle and mathematical model according to the same steering wheel input and electrical throttle input. By comparison of the two experimental data, the mathematical model is proved to be accurate. With the established mathematical model, effects on yaw speed and vehicle sideslip angle are studied by rear wheel steering under high speed. The results show that implementation of control of the rear wheel angle can effectively change the electric vehicle control performance.

关 键 词：矢量空间 电动车 四轮独立驱动 四轮独立转向 轮毂电机 操控性分析 

分 类 号：U462.1[机械工程—车辆工程]