四轮独立驱动电动汽车等转矩转弯试验及滑动率分析

Sreering Test and Slide-rate Analysis of 4 WID EV under Identity-power Pattern

针对研制的四轮独立驱动电动试验样车4 WID EV,建立了稳态转向动力学模型。按等转矩模式分配四轮驱动力,进行了不同条件下的转弯试验。采用坐标网格法测绘了样车的行驶轨迹,得到了四轮转弯半径及整车转弯半径的变化情况。转弯试验揭示出驱动轮存在滑动,推导了滑动率的计算公式,并分析了转向轮转角及车速对滑动率的影响规律。结果表明,采用等转矩模式分配四轮驱动力,各轮间存在相互拖拽现象,从而产生功率内循环。

A dynamic steering model was built for the designed 4WID electric vehicle（EV）, the steering experiments were done with 4--wheel driving force being equal The rolling trend of four wheels was mapped by the net--lattice method, the steering radius both of four wheels and the sample vehicle was obtained. It is found that there is slip ratio in each wheel. The formula for calculating the steering sliding--rate was deduced,the relation between the sliding--rate and the steering radius and rotation speed was obtained. It indicates that there exists haulage among wheels causing insider power circulation, when 4--wheel driving force being equal.