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首页> 外文会议>International Conference on Mechanical, Material Engineering >Study on Skid-Steering Drag Force Calculation and Model for Electric Ground Vehicle with Six In-wheel Motors
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Study on Skid-Steering Drag Force Calculation and Model for Electric Ground Vehicle with Six In-wheel Motors

机译：六轮内电动机电磨车滑动转向拖曳力计算及模型研究

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摘要

The skid-steering vehicle is able to be steered by the speed difference of the inside and outside wheels created by controlling the torque distribution of all drive wheels. The three degree of freedom dynamic equations are established for electric ground vehicle with six in-wheeled motors, based on which the drag force calculation model is presented under steady skid-steering condition. Then the variation of resistance torque with the steer input and vehicle velocity is analyzed including its theoretic constraint limit. The steering resistance moment of the electric ground vehicle is compared with that of the tracked vehicle with the same vehicle parameters. In order to validate the calculation results, the virtual prototype model is created and the dynamic simulation is executed in ADAMS software. The results indicate that the resistance moment of electric ground vehicle is more than that of the tracked vehicle with same configurations and the computational model is correct.
机译：通过控制所有驱动轮的扭矩分布，可以通过内部和外部轮子的速度差来转向滑动转向车辆。 为具有六个整体电机的电接地车辆建立了三度的自由度动态方程，基于稳态滑动转向条件下的拖曳力计算模型。 然后分析了具有转向输入和车辆速度的电阻扭矩的变化，包括其理论约束限制。 将电磨车的转向电阻力矩与具有相同车辆参数的跟踪车辆的转向抵抗力矩进行比较。 为了验证计算结果，创建虚拟原型模型，在ADAMS软件中执行动态仿真。 结果表明，电接地车辆的电阻力矩大于具有相同配置的跟踪车辆的电阻力矩，并且计算模型是正确的。

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