轮毂驱动轻型商用车差速转向稳定性分析  

Stability Analysis of Differential Steering for Wheel-Driven Light Commercial Vehicles

作　　者：韩锋钢 陈进 罗翔 宋帆 彭倩 HAN Fenggang;CHEN Jin;LUO Xiang;SONG Fan;PENG Qian(School of Mechanical and Automotive Engineering,Xiamen University of Technology,Xiamen 361024,China)

机构地区：[1]厦门理工学院机械与汽车工程学院,福建厦门361024

出　　处：《华侨大学学报（自然科学版）》2023年第6期676-683,共8页Journal of Huaqiao University(Natural Science)

基　　金：福建省科技厅高校产学合作项目(2020H6021);福建省厦门市重大专项(3502Z202221030)。

摘　　要：针对分布式驱动差速转向因车轮滑转或滑移导致的失稳问题,以某后轮轮毂驱动轻型商用车底盘为研究对象,设计差速转向控制策略。构建二自由度转向运动学模型,根据理想横摆角速度和实际横摆角速度的差值进行自适应实时跟踪控制,对轮毂驱动电机附加横摆力矩进行合理分配,实现转向助力协调优化控制,开展实车测试并参照QC/T 480-1999对车辆转向稳定性进行评估。结果表明:稳态回转试验、转向回正试验、转向轻便性试验的综合评分分别为84.10,89.46,85.82,均满足国标要求且性能良好。Aiming at the instability problem caused by wheel slippage in distributed drive using differential steering,a differential steering control strategy is designed based on the chassis of a light commercial vehicle driven by rear wheels.A two degree of freedom steering kinematic model was constructed,and adaptive real time tracking control was performed based on the difference between the ideal and the actual yaw rate.The additional yaw moment of the wheel hub drive motor was reasonably allocated to achieve coordinated and optimized control of steering assistance.On site testing and evaluation of the vehicle′s steering stability was conducted with reference to QC/T 4801999.The results show that the comprehensive scores of steady state rotation test,steering return test,and steering portability test are 84.10,89.46 and 85.82,respectively,which meet the requirements of national standards and have good performance.

关 键 词：轮毂电机 电子差速 扭矩分配 横摆力矩 

分 类 号：U469.72[机械工程—车辆工程]