可调车身高度的新型轮边驱动系统的设计

Design of A New Wheel-Drive System Attaining Vehicle Height Adjustment

研究集成车轮驱动和车身高度调节双重功能的新型轮边驱动系统的设计问题.区别于现有单电机驱动车轮设计,提出双电机轮边驱动系统结构.该系统不仅可以实现车身高度调节,降低传统液压或气压调高装置的成本,而且能够保障单电机故障情况下车轮驱动功能的正常运转.系统运作主要通过双电机的差速控制来调整电机齿轮轴之间的距离,进而改变车身连接点的离地高度,最终实现车身高度的实时调节.基于上述原理,对系统进行力学分析并给出电机模型,提出PID控制结构和设计方案,并通过数值算例分析和Matlab仿真,验证新型轮边驱动系统和控制方案的可行性.

This paper deals with design problem of a novel wheel-drive system,which can achieve both wheel driving and body height adjustment functions.Different from the existing single-motor drive systems,the wheel-drive system developed in this paper is driven by two motors.The proposed system can not only adjust the car height while reducing the cost of traditional hydraulic or pneumatic devices,but also ensure the normal operation of wheel driving function under the condition of single motor failure.The system operation is mainly through employing differential control of the motors to adjust the distance between gear axles of the motors,so that the height off the ground of the body connection point is changed,resulting in real-time body height adjustment.Based on the above principle,the dynamics of the wheel-drive system are analyzed,and the motor model is established for control purpose.Further,a PID control structure and a design strategy are provided,and the feasibility of the wheel-drive system and its control scheme are validated by a numerical example analysis and Matlab simulation.