四轮独立驱动无人车的动力性参数设计仿真

Parameter Design and Simulation of Dynamic Property for Four-wheel Independent Drive Unmanned Vehicle

四轮独立驱动无人车的轮毂电机功率、蓄电池容量与组数以及无人车续驶里程等参数的匹配设计是无人车研制过程中整体设计的一个难点和重点,需要通过无人车运动学和动力学分析进行确定,既要满足可行性又要具有很好的可靠性。根据实际需要和动力性设计要求,在对无人车进行运动和动力学分析的基础上,通过理论计算得到动力性参数,然后通过ADVISOR软件建立四轮独立驱动整车仿真模型,对其动力性进行仿真。通过仿真,其最高车速、爬坡性能、加速性能以及行驶里程在不同的工况下得到仿真结果与理论设计的参数相吻合,验证了参数设计的合理性,为下一步无人车样机的制作以及进行整车运动控制研究具有重要实际意义。

It is a difficulty and key,which is that they are studied to acquire the accurate parameters to match the design for the four-wheel independent drive unmanned vehicle,which are the power of in-wheel motor,the numbers and capacity of battery and the driving range and other parameters. They are determined by the unmanned vehicle kinematics and dynamics analysis,and should not only meet the feasibility and to have good reliability. According to the actual needs and requirements of dynamic property design,the dynamic parameters is obtained by theoretical calculation on the basis of the unmanned vehicle kinematics and dynamics analysis,and then We establish vehicle simulation model with ADVISOR software applications,which can be used to do dynamic simulation for conducting to verify rationality of the design parameters. Through the simulation,the result that the power index of its maximum speed,climbing performance,acceleration performance and mileage by simulation in different conditions can meet the unmanned vehicle,which has verified rationality of the design parameters. It has important practical significance for the prototype production and the further conduct of vehicle motion control research.