基于多体动力学的4WID-4WIS电动车运动学建模与逆运动学仿真  

Kinematics Modeling and Inverse Kinematics Simulation of a 4WID/4WIS Electric Vehicle Based on Multi-body Dynamics

作　　者：董铸荣[1,2] 任少云[2] 贺萍[2] 李占玉[2] 胡松华[2] 

机构地区：[1]北京交通大学机电控制工程学院,北京100044 [2]深圳职业技术学院汽车与交通学院,深圳518055

出　　处：《汽车工程》2015年第3期253-259,共7页Automotive Engineering

基　　金：广东省自然科学基金(S2013010013931);深圳市基础研究项目(JCYJ20120617135920233)资助

摘　　要：基于多体动力学理论和集成建模方法,建立了14自由度的四轮驱动、四轮转向电动车运动学模型。基于所建模型,进行典型工况的运动学仿真和车辆运动的参数化分析,仿真结果可以建立所设计制造的电动车各个车轮协调的基准数据库。Based on the theory of multi-body dynamics and integrated modeling method,a 14 DOF kinematics model for a four-wheel drive / four-wheel steering electric vehicle is built. On the basis of the model built,a kinematics simulation and a parametric analysis on vehicle movement in typical conditions are conducted. With the results of simulation,a baseline database can be established for the coordination between wheels of electric vehicle designed and produced.

关 键 词：电动汽车 四轮驱动 四轮转向 逆运动学 多体动力学 

分 类 号：U469.72[机械工程—车辆工程]