A Modeling and Analysis Method for Differential Control of Electric Vehicles
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摘要: 将双轮毂电机电动汽车作为研究对象,以简易实用为目标,基于传统阿克曼转向模型,提出了一种基于轮胎滑移率的改进阿克曼转向模型。通过Matlab/Simulink建模工具完成了对于差速模型的搭建,并且基于该模型对双轮毂电机的轮胎转速以及对应的滑移率、横摆角速度进行了仿真分析,进而根据理想二自由度线型整车动力学模型得到的理想横摆角速度进一步完善了此改进阿克曼转向模型。最后通过实际的整车试验,得到了相应的数据曲线,与仿真结果对比表明有效地实现了提出的差速控制模型。Abstract: For the purpose of simplicity and practicality, taking the dual in-wheel motors electric vehicle as the research object, based on the traditional Ackermann steering model, an improved Ackerman steering model based on the tire slip rate is proposed in this paper. Through the Matlab/Simulink modeling tool, the electronic differential model was constructed at first. Based on the model, the tire speed, the corresponding slip ratio and yaw rate of the dual in-wheel motors were simulated and analyzed. Then the ideal yaw rate obtained from the ideal two degree of freedom linear vehicle dynamic model further perfects the improved Ackerman steering model. Finally, the corresponding data curves are obtained through vehicle testing experiments, and the comparison of the simulation and test results showed that the proposed differential control model has been effectively implemented.
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Key words:
- in-wheel motor /
- ackermann differential model /
- slip rate /
- electronic differential
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表 1 电动汽车实验平台参数
参数 数值 质量m/kg 175 汽车轮距d/m 0.9 汽车轴距l/m 1.3 质心到前轴距离a/m 0.6 质心到后轴距离b/m 0.7 轮胎半径R/m 0.205 最大速度Vmax/(km·h-1) 35 最大转角δmax/(°) 28 -
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