多轴轮毂电机驱动车辆的转向阻力特性

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.

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

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.