Torque Distribution of Electric Vehicle with Four In-Wheel Motors Based on Road Adhesion Margin

With the worsening of energy crisis and environmental pollution,electric vehicles with four in?wheel motors have been paid more and more attention. The main research subject is how to reasonably distribute the driving torque of each wheel. Considering the longitudinal motion,lateral motion,yaw movement and rotation of the four wheels,the tire model and the seven DOF dynamic model of the vehicle are established in this paper. Then,the torque distribution method is proposed based on road adhesion margin,which can be divided into anti ? slip control layer and torque distribution layer. The anti?slip control layer is built based on sliding mode variable structure control,whose main function is to avoid the excessive slip of wheels caused by road conditions. The torque distribution layer is responsible for selecting the torque distribution method based on road adhesion margin. The simulation results show that the proposed torque distribution method can ensure the vehicle quickly adapt to current road adhesion conditions,and improve the handling stability and dynamic performance of the vehicle in the driving process.

轮胎与水泥混凝土路面摩擦接触状况数值模拟

针对水泥混凝土路面抗滑性能缺乏定量分析和合理评价方法的问题,采用有限元分析方法,对轮胎与水泥混凝土路面摩擦接触状况进行了数值模拟,分析了荷载、路表构造、胎压和行车速度等因素对轮胎与路面附着系数的影响。结果表明:荷载、刻槽宽度和槽间距均对路面附着系数影响显著,而刻槽深度几乎对路面附着系数没有影响;轮胎的充气压力越低,轮胎与路面之间的附着系数越大;车速越快,附着系数越小,并由此回归出路面附着系数与充气压力、荷载、行车速度以及路面构造参数之间的关系式。