分布式独立驱动车辆复合转向匹配特性研究

Study on the Composite Steering Matching Characteristics of Distributed Independent Drive Vehicles

为研究分布式独立电驱动车辆的复合转向机理,提升车辆的转向机动性、操纵稳定性,以某型8 X 8独立电驱动车辆为对象,构建整车仿真模型、分布式独立电驱动控制模型以及车辆复合转向控制模型,在几何转向的基础上,通过在驱动轮主动叠加速差转角即前馈施加车轮虚拟偏转角的方法,分析在相同轮转角状态下,几何转向模式与复合转向模式对车辆转向半径的影响。通过不同行驶工况下的动态仿真,结合车辆的横摆角度、侧向加速度、质心侧偏角等车辆稳定性特性参数,分析复合转向对于车辆操纵稳定的影响,得出分布式独立电驱动车辆复合转向匹配特性。

In order to study the compound steering mechanism of the distributed independent electric drive vehicle and improve the steering maneuverability and handling stability of the vehicle,taking a certain 8x8 independent electric drive vehicle as the object,the vehicle simulation model,the distributed independent electric drive control model and the compound steering control model of the vehicle were constructed,and the research was carried out on the basis of geometric steering by actively superimposing the speed difference angle on the driving wheel.In other words,the method of applying the virtual steering angle of wheel forward was used to study the influence of geometric steering mode and compoiind steering mode on the steering radius of vehicle under the same steering angle.Through the dynamic simulation under different driving conditions,combined with the vehicle stability parameters such as yaw angle,lateral acceleration,sideslip angle of the center of mass,the influence of compound steering on vehicle handling and stability was studied,and finally the matching characteristics of compound steering of distributed independent electric drive vehicle were obtained.