分布驱动轮式车辆差动转向动力学特性研究  

A Study on Dynamic Characteristics of Differential Steering in Distributed-drive Wheeled Vehicles

作　　者：徐涛[1] 申焱华[1] 张文明[1] 谢锦程 Xu Tao , Shen Yanhua , Zhang Wenming , Xie Jincheng(School of Mechanical Engineering University of Science and Technology Beijing,Beijing 10008)

机构地区：[1]北京科技大学机械工程学院,北京100083

出　　处：《汽车工程》2018年第7期812-819,849,共9页Automotive Engineering

基　　金：国家科技支撑计划项目(2013BAB02B07)资助

摘　　要：针对现有轮式车辆差动转向理论中未考虑胎体扭转特性和稳态差动转向动力学特性的问题,结合分布驱动轮式车辆结构特点,进行基于轮胎扭转和侧偏特性的轮式车辆差动转向动力学特性研究。通过建立单轴和双轴分布驱动轮式车辆动力学模型,分析轮胎与路面相互作用机理和稳态差动转向形成过程;讨论胎体扭转和横向变形引起的车轮回正力矩与侧偏力、侧向外力和车辆结构尺寸等对车辆稳态差动转向过程的影响。结果显示,轮胎扭转迟滞及其产生的回正力矩对稳态差动转向影响较大;双轴轮式车辆差动转向过程为侧偏与侧滑的耦合作用,其差动转向的必要条件为轮距大于轴距。Aiming at the problem that the current theory on the differential steering in wheeled vehicles does not take into consideration of tire twist characteristics and the dynamic characteristics of steady-state differential steering,a study on the dynamic characteristics of differential steering in wheeled vehicles is conducted based on the twist and cornering characteristics of tire. The models for both single-and dual-axle distributed drive wheeled vehicles are set up to analyze the mechanism of the interaction between tire and road and the forming process of steadystate differential steering,and the effects of aligning torque,cornering force,which are caused by the twist and transverse deformation of tire,lateral force and the structural dimension of vehicle on steady-state differential steering are discussed. The results show that the hysteresis of tire twist and the aligning torque it produces have great effects on the steady-state differential steering of vehicle. The process of differential steering of dual-axle wheeled vehicles is a coupling action of cornering and side-slip and the essential condition for differential steering is that wheel track must be larger than wheel base.

关 键 词：分布式驱动车辆 差动转向 轮胎动力学特性 建模与仿真 

分 类 号：U463.4[机械工程—车辆工程]