分布式驱动车辆动力学建模与稳定性研究

Research on Modeling and Stability of Dynamics for Distributed Drive Vehicle

以8×8轮毂电动机驱动车辆为研究对象,基于Matlab/Simulink与Trucksim软件平台,研究车辆动力学模型建模及操纵稳定性控制策略。推导车辆26自由度动力学数学模型;在Trucksim中建立车辆仿真模型,并在Matlab/Simulink中建立车辆仿真数学模型。根据车辆动力学计算,验证并完善Trucksim中的车辆仿真模型;比较同一工况下的车辆仿真,优化并完善Matlab/Simulink车辆仿真数学模型;仿真结果表明,分布式驱动控制策略及所建立的动力学模型的准确性与可靠性。

The vehicle dynamics modeling and stability control strategy were studied based on MATLAB/Simulink and Trucksim by taking 8×8 inwheel motor driven vehicle as the research object.Firstly,a mathematical model of vehicle dynamics 26 degrees of freedom was derived.Secondly,a vehicle model was built by Trucksim,and a computer simulation vehicle mathematical model was built in MATLAB/Simulink.The vehicle model in Trucksim was verified and improved according to the vehicle dynamics calculation.Then,the vehicle simulation data under the same working condition were compared in order to optimize and improve the vehicle model in Simulink.Finally,the simulation results prove the accuracy and reliability of the proposed distributed drive control strategy and established model.