电动轮驱动汽车动力学仿真模型及试验验证

提出了电动轮驱动汽车的18自由度动力学模型,包括车体的6个运动自由度,4个车轮的转向、转动及垂向运动的12个自由度。该模型具有自由度较多,仿真参数易获取且精度较高的特点。利用所开发的电动轮驱动汽车进行了相关操纵稳定性试验,并将试验结果与相同工况下的仿真结果进行了对比,结果表明所建模型仿真结果与试验结果吻合良好,验证了模型的有效性。在此基础上,利用所建模型对汽车极限行驶工况时的动力学特性进行了仿真,仿真结果与实车运动特性相符。该模型为研究电动轮驱动汽车的动力学特性奠定了基础。

Dynamic simulation model and experimental validation for vehicle with motorized wheels

A dynamic model with 18 degrees of freedom(DOF),including the 6 DOF of the vehicle body and the 12 DOF of the steering,the rotation and the vertical motion of 4 wheels,was proposed for the electric vehicle with motorized wheels(EVMW).The model is characterized by a large number of DOF,high simulation precision and being easy to get the simulation parameters.The test for the handling stability of the developed EVMW was performed and the test results were compared with the simulation ones under the same driving conditions.The good agreement between the test and the simulation proves the validity and the practicality of the model.Furthermore,the dynamic performance of the EVMW under the limit driving conditions was simulated by the proposed model and resulted in coincidence with that of the real vehicle.The model provides a basis for the study of the dynamic performance of the EVMW.