四轮毂电动机独立驱动电动车转向策略的试验

Experimental Research of Steering Strategy of Independent Drive Electric Vehicles with Four In-Wheel Motors

根据电子差速技术原理分析计算了四轮毂电动机驱动电动汽车的4个车轮转向时的理论车速;利用永磁无刷直流电动机作为驱动源搭建了电动智能小车,利用该智能小车进行道路行驶实验,对转向理论车速和实验车实际行驶车速进行对比。实验结果表明:试验车4个车轮的转向车速与前期转向理论的分析结果基本一致,总体误差不超过10%,说明轮毂电机驱动电动车在转向时满足Ackerman转向原理和电子差速技术。

The theoretical speed of four wheels in an electric vehicle driven by four in-wheel motor is analyzed and calculated based on the electronic differential principle. An electric intelli- gent vehicle was built, with a permanent magnet brushless DC motor as the driving resource. Road tests were carried out to get the actual driving speed, and then compared with the steering theoretical speed. Experimental results show that the four wheels steering speed of the test car agrees with the analysis results, with the total error less than 10%. Therefore the in-wheel motor drive electric vehicle meets Ackerman steering principle and the electronic differential technology when steering.