东北大学学报（自然科学版）

东北大学学报:自然科学版 ›› 2016, Vol. 37 ›› Issue (8): 1155-1160.DOI: 10.12068/j.issn.1005-3026.2016.08.019

• 机械工程 • 上一篇    下一篇

多轴轮毂电机驱动车辆的转向阻力特性

智晋宁1,2， 项昌乐1， 马越1   

  1. (1. 北京理工大学 机械与车辆学院， 北京100081; 2. 太原科技大学 机械工程学院，山西 太原030024)
  • 收稿日期:2015-05-14 修回日期:2015-05-14 出版日期:2016-08-15 发布日期:2016-08-12
  • 通讯作者: 智晋宁
  • 作者简介:智晋宁(1974-)，男，山西五台人，北京理工大学博士研究生，太原科技大学副教授； 项昌乐(1963-)，男，安徽六安人，北京理工大学教授，博士生导师.
  • 基金资助:
    国家部委预研项目(40401060104).

Steering Resistance Characteristics of Multi-axle in-Wheel Motor Electric Vehicle

ZHI Jin-ning1,2， XIANG Chang-le1， MA Yue1   

  1. 1. School of Mechanical Engineering， Beijing Institute of Technology， Beijing 100081， China; 2. College of Mechanical Engineering， Taiyuan University of Science & Technology， Taiyuan 030024， China.
  • Received:2015-05-14 Revised:2015-05-14 Online:2016-08-15 Published:2016-08-12
  • Contact: MA Yue
  • About author:-
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摘要： 为研究多轴电动车辆的转向阻力特性，在考虑了轮胎负荷变化对轮胎侧偏刚度影响的基础上，建立了车辆3自由度动力学模型；提出了一种稳态转向工况下的转向阻力计算方法，推导了轮胎侧偏角和转向阻力矩的理论计算式.基于该模型，分析了转向阻力矩与转向输入量和车速的关系及理论约束边界，比较了在相同质量与等效履带接地长度条件下轮胎式与履带式车辆的转向阻力矩，讨论了轮胎侧偏角对轮胎力分配的影响，并通过ADAMS软件对计算结果进行了验证.结果表明，相同参数条件下，多轮驱动车辆的转向阻力矩大于履带式车辆的阻力矩，计算模型可为转向控制策略提供理论参考.

关键词: 轮毂电机, 多轴车辆, 转向阻力, 计算模型

Abstract: To study the steering resistance characteristics of multi-axle electric vehicle， the dynamic model was established for three degree of freedom vehicle based on the effect of wheel load changes on tire cornering stiffness. The steering resistance computational method was proposed under steady steering condition， and the theoretical formulas of the tire side slip angle and steering resistance moment were derived. Based on this model， the relation of resistance moment with the steering input and vehicle velocity was analyzed as well as its theoretical constraint boundaries. The steering resistance moment of the wheeled vehicle was compared with that of the tracked vehicle under the equal mass and track length conditions. Furthermore， the influences of side slip angles on each tire force distribution were discussed and the computational results were validated using the ADAMS software. The results indicate that the resistance moment of multi-axle electric vehicle is more than that of the tracked vehicle with the same configurations， and the computational model can lay a theoretical basis of the steering control strategy.

Key words: in-wheel motor, multi-axle vehicle, steering resistance, computational model

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