两后轮驱动的电动轮汽车的动力学建模与仿真分析-北京大学学报.PDF

ISSN 1674-8484 汽车安全与节能学报, 2010 年, 第1 卷 第2 期 11/ 12 CN 11-5904/U J Automotive Safety and Energy, 2010, Vol. 1 No. 2 158— 162 两后轮驱动的电动轮汽车的动力学建模与仿真分析 陈  勇 ，陆中奎 ，周秋丽1 2 1 （1. 北京信息科技大学，北京 100192 ；2. 北京福田汽车股份有限公司，北京 102206 ） 为分析电动轮汽车的非悬挂质量增加对行驶平顺性、操纵稳定性的影响，建立了两后轮驱动的电动轮汽车 摘  要： 整车的11自由度动力学模型。在MATLAB/Simulink环境下，建立了整车仿真分析模型，采用模拟的路面谱作为路面 输入 ,可实现不同车辆参数、不同控制策略和不同分析目标的仿真,也可分析车轮与路面之间的动载荷、悬架变形和 车身姿态（俯仰、侧倾和横摆）的变化。分析结论对电动轮汽车的开发、悬架的改进以及控制策略的确定具有参考意义。 电动汽车；电动轮；控制策略；平顺性；操纵稳定性 关键词： U469.72 中图分类号： Dynamic modeling and simulation analysis of an electric vehicle with two rear hub-motors 1 2 1 CHEN Yong , LU Zhongkui , ZHOU Qiuli (1. Beijing Information Science Technology University, Beij ing 100192, China; 2. Beiqi Fonton Motor Co. Lts, Beij ing 102206, China) Abstract: An 11 degree-of-freedom dynamic model was constructed for an electric vehicle driven with two rear hub-motors to analyze the influence on ride quality and the handling characteristics of unsprung mass increase. A full vehicle simulation model was developed using the MATLAB/Simulink with a simulated road model as input. The simulation model can realize the varies simulations with different vehicle parameters, control strategies and analyzing goals, while it can also determine the changes of dynamic load on tires, suspension deflection and attitude (including pitch, roll and yaw). The above analyzed conclusions can enhance the development of electric vehicle driven by hub-motors, while they support the design of suspension and contro