CN109522670A - A kind of wheel hub driving vehicle multi-source excitation Coupling Dynamics Analysis method - Google Patents
A kind of wheel hub driving vehicle multi-source excitation Coupling Dynamics Analysis method Download PDFInfo
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Abstract
The invention discloses a kind of wheel hub driving vehicle multi-sources to motivate Coupling Dynamics Analysis method, specifically includes that input condition, steering system model, random road excitation model, hub motor model, tire model and vehicle Coupling Dynamic Model.Input condition includes: to turn to input, pavement grade, speed of operation.Input condition inputs steering system model in real time, random road excitation model, hub motor model, steering wheel angle is calculated separately out by model, road roughness and hub motor unbalanced electromagnetic force, and the corner of deflecting roller and road roughness are imposed on into built tire model simultaneously, it is calculated from tire model each to tire force, and it is reacted on into built vehicle Coupling Dynamic Model with unbalanced electromagnetic force one, the Coupled Dynamics characteristic of wheel hub driving vehicle is analyzed, the relative shift of the amount of exercise of obtained tire and hub motor rotor is fed back into tire model and hub motor model respectively simultaneously, carry out closed-loop control.
Description
Technical field
The present invention relates to a kind of dynamics of vehicle Domain Analysis Method more particularly to a kind of driving vehicle multi-source excitations of wheel hub
Coupling Dynamics Analysis method.
Background technique
With the rapid development of economy, problem of environmental pollution is also increasingly severe, the exhaust emissions of automobile is as main dirty
One of dye source is paid high attention to, and the development of new-energy automobile has showed inundant trend.Electric car becomes
One main flow direction of new energy development, but there are transmission shafts, differential mechanism since tradition concentrates motor-driven electric car
Etc. structures so that the chassis structure of electric car is complicated and transmission efficiency is lower.The electric car of In-wheel motor driving not only takes
It the structures such as transmission shaft that disappeared and is arranged in hub motor, deceleration gear brake etc. are highly integrated in wheel, simplifies bottom
Dish structure improves transmission efficiency.
Under normal circumstances, the geometric center of the rotor of hub motor and wheel geometric center are concentric, but not
It is circumferentially uneven to will cause motor gas-gap under the factors such as same road excitation, speed, to generate unbalanced electromagnetic force influence
To the kinetic characteristics of vehicle.Currently, vehicle multiple activation source couples the rare research of influence generated to vehicle dynamics characteristics.
The invention proposes a kind of wheel hub driving vehicle multi-sources to motivate Coupling Dynamics Analysis method, and the method is establishing wheel
On the basis of hub drives electric car Coupling Dynamic Model, road roughness arbitrary excitation, hub motor electromagnetism are fully considered
The influence of the vehicle driving source of power Vehicular turn and its effect of intercoupling to vehicle dynamics characteristics, can more really reflect vehicle
Influence of the system dynamics under multifactor effect.
Summary of the invention
It is an object of the invention to propose a kind of dynamic analysis method suitable for wheel hub driving vehicle, this method considers
To a variety of driving source couplings, more acurrate, the true analysis multiple activation source of energy, which is coupled to wheel hub driving vehicle bring, to be influenced,
The Coupled Dynamics characteristic of wheel hub driving vehicle is had a very important significance.
The purpose of the present invention is achieved through the following technical solutions:
The analysis method specifically includes that input condition module, steering system model, random road excitation model, wheel hub electricity
Machine model, tire model and vehicle Coupling Dynamic Model.Wherein input condition module includes: to turn to input, pavement grade
And speed of operation.
The multiple activation source input condition of hub motor driven electric vehicle is determined first, comprising: turns to input, road surface etc.
Grade, speed of operation；Establish random road excitation model；Steering system is established according to hub motor driven electric vehicle specific structure
Model and hub motor model；The input condition substitution of hub motor driven electric vehicle Real-road Driving Cycle is established random
The actual multi-source excitation of vehicle can be obtained in road excitation model, steering system model and hub motor model；Establish vehicle wheel
Loose tool type and vehicle Coupling Dynamic Model, the wheel steering angle obtained by steering system model and random road excitation model are obtained
To road roughness excitation and meanwhile act on established tire model, while the imbalance that will be obtained by hub motor model
Electromagnetic force is applied to built vehicle Coupling Dynamic Model, and the tire force of generation is acted on vehicle coupling power by tire model
Model is learned, and the wheel movement amount and hub motor that are calculated under certain operating condition by vehicle Coupling Dynamic Model are determined
Relative rotor displacement amount then feeds back to tire model and hub motor model respectively.
Compared with the existing technology, the invention has the advantages that and the utility model has the advantages that
(1) present invention is suitable for the Study on Dynamics of the vehicle of In-wheel motor driving, fully considers hub motor
The a variety of incentive actions for turning to input, road roughness, hub motor unbalanced electromagnetic force of the vehicle of driving, improve at present
The preciseness of single input is only considered for wheel-hub motor driven vehicle dynamic analysis.
(2) this analysis method considers the work that intercouples between road roughness excitation and hub motor electromagnetic force
With more close to the truth of wheel-hub motor driven vehicle, so that analysis is more accurate.
Detailed description of the invention
The present invention will be further described with embodiment with reference to the accompanying drawing.
Fig. 1 is the flow chart of wheel hub driving vehicle multi-source excitation Coupling Dynamics Analysis method of the present invention.
Fig. 2 is the flow chart of the embodiment 1 of wheel hub driving vehicle multi-source excitation Coupling Dynamics Analysis method of the present invention,
In wheel-hub motor driven vehicle Coupling Dynamic Model be the ten single-degree-of-freedom Coupled Dynamics established using lumped parameter method
Model.
In Fig. 1: S1. input condition module S2. steering system model S3. random road excitation model S4. hub motor
Model S5. tire model S6. vehicle Coupling Dynamic Model S1-1. turns to input S1-2. pavement grade S1-3. traveling
Speed
Specific embodiment
The present invention is described in further detail with embodiment with reference to the accompanying drawing, but embodiments of the present invention are not
It is limited to this.
Wheel-hub motor driven vehicle multi-source as shown in Figure 1 motivates Coupling Dynamics Analysis method, and specific steps include:
S1: determining running conditions of vehicle input condition, including S1-1 steering inputs, S1-2 pavement grade and S1-3 speed of operation are defeated
Enter；S2: steering system model is established, S2 receives the steering angle signal for carrying out low damage input S1, and it is defeated to calculate certain steering wheel
Enter the steering angle of lower each wheel；S3: random road excitation model is established, random road surface model is according to S1-2 pavement grade and S1-3
Speed of operation calculates the unevenness input of current road；S4: hub motor model is established, hub motor model is according to Travel vehicle
The rotor relative shift signal of fast S1-3 machine feedback calculates unbalanced electromagnetic force at this time；S5: establishing tire model, wheel
The unevenness that the steering angle and random road excitation model that loose tool type is calculated according to steering system model are calculated calculates wheel
Tire it is each to active force；S6: wheel hub driving vehicle Coupling Dynamic Model is established, according to the every tire force and imbalance of effect
Electromagnetic force calculates each relative shift to kinetic characteristics and hub motor rotor of vehicle, and respectively by calculated result
Feed back to tire model and hub motor model.
Embodiment 1
It is as shown in Figure 2: to be the embodiment of the present invention 1, wheel-hub motor driven vehicle Coupling Dynamic Model therein is benefit
The ten single-degree-of-freedom Coupling Dynamic Models established with lumped parameter method.Its step includes:
S1: determine that running conditions of vehicle input condition, including S1-1 turn to input, S1-2 pavement grade and S1-3 traveling
Speed input.
S2: steering system model is established, S2 receives the steering angle signal for carrying out low damage input S1, and calculates certain steering
The steering angle of each wheel under disk input.The effects of such as ignoring the deformation of steering system only considers the effect of steering system ratio, adopts
With such as drag:
In formula,For steering wheel angle, δ is steering wheel angle, and i is steering system ratio.
S3: random road excitation model is established, random road surface model is according to S1-2 pavement grade and S1-3 speed of operation meter
Calculate the unevenness input of current road.
In order to which more really reflection spectrum of road surface roughness is approximately horizontal actual conditions in low-frequency range, using lower section of introducing
Only frequency ncRoad surface input model, the near front wheel road roughness displacement Model in Time Domain can be expressed as:
In formula, G0For road roughness coefficient, u is speed, and w (t) is white noise, n0=0.1m-1For standard spatial freq.
The correlation of four wheel road excitations of vehicle is also contemplated that in Full Vehicle Modelling analysis, therefore four-wheel random road surface is defeated
The state equation entered can be expressed as:
In formula:
Y (t)=[z01(t) z02(t) z03(t) z04(t) x1(t) x2(t)]
S4: hub motor model is established, the rotor that hub motor model is fed back according to speed of operation S1-3 machine is with respect to position
Shifting amount signal calculates unbalanced electromagnetic force at this time.
(1) gas length model:
Motor non-uniform gap is the function of time t, be can be expressed as:
ge(z, γ, t)=g0(1-ε(z)cos(ωrt-γ))
(2) unbalanced electromagnetic force model:
The normal/radial electromagnetic force Density Distribution that air-gap field generates under polar coordinates are as follows:
In formula: μ0For space permeability, Br(s,t)Bt(s, t) is instantaneous radial direction/tangential magnetic of point s on air gap circumferencial direction
Flux density.Br(s,t)BtExpression formula under (s, t) polar coordinates are as follows:
Electromagnetic force under above-mentioned polar coordinates is transformed under cartesian coordinate, and considers the electricity on entire motor axial length
Magnetic force distribution, the then power acted in stator center Z-direction can be obtained by such as lower integral:
In formula, laFor motor axial length, r is integral radius.
S5: establish tire model, it is contemplated that tire it is non-linear, using " magic formula " tire model, mathematical expression
It is as follows:
Y=Dsin { Carctan [Bx-E (Bx-arctanBx)] }
In formula:
B=tan β/(CD)
C=1 ± [1-2arcsin (yx/D)/π]
D=yp
E={ Bxp-tan[π/2C]}/[Bxp-arctan(Bxp)]
Wherein, D=ypFor peak of curve (when C >=1)；C is curve shape coefficient, since it is controlled in " magic formula "
The range of SIN function, therefore determine the shape of curve obtained；Coefficient B, the product of C, D correspond to the slope at origin, it may be assumed that
BCD=tan ζ, after C and D is determined, B is stiffness coefficient；E is used to the curvature at controlling curve peak value；β is at curve origin
Slope；xpFor the corresponding abscissa of peak of curve；ysFor the steady-state value of curve.
What the steering angle and random road excitation model that above-mentioned tire model is calculated according to steering system model were calculated
Unevenness calculates each to active force of tire.
S6: wheel hub driving vehicle Coupling Dynamic Model is established, according to the every tire force and unbalanced electromagnetic force of effect
It calculates each relative shift to kinetic characteristics and hub motor rotor of vehicle, and respectively feeds back to calculated result
Tire model and hub motor model.
11 DOFs vehicle dynamics models established in embodiment according to fig. 2, can be obtained the kinetics equation of system
Equation is as follows:
1. the catenary motion differential equation:
2. pitching movement differential equation equation:
3. roll motion differential equation equation:
4. the lateral movement differential equation
It in the lesser situation in front-and rear-wheel steer angle, can be approximately considered: cos δfl=1, cos δfr=1；cosδrl=1；cos
δrr=1
5. the weaving differential equation
In the lesser situation in front-and rear-wheel steer angle, equation can simplify are as follows:
6. the unsprung mass catenary motion differential equation:
When pitching angle theta and angle of heelWhen smaller, approximation has:
In the above kinetics equation, IxxIt is vehicle body for the inclination rotary inertia of x-axis；IyyThe vehicle body of pitching for to(for) y-axis
Rotary inertia；IzzIt is vehicle for the yaw rotation inertia of z-axis；IxzTo roll the product of inertia with weaving；mtIt is total for vehicle
Quality.
Claims (7)
1. the invention discloses a kind of wheel hub driving vehicle multi-sources to motivate Coupling Dynamics Analysis method, input item is specifically included that
Part module, steering system model, random road excitation model, hub motor model, tire model and vehicle Coupled Dynamics
Model.Specific steps include: the multiple activation source input condition of hub motor driven electric vehicle determining first, comprising: are turned to defeated
Enter, pavement grade, speed of operation；Establish the random road excitation model；It is specifically tied according to hub motor driven electric vehicle
Construct vertical steering system model and hub motor model；The input condition generation of hub motor driven electric vehicle Real-road Driving Cycle
Entering the random road excitation model, steering system model and hub motor model can be obtained the actual multi-source excitation of vehicle；
Vehicle tyre model and vehicle Coupling Dynamic Model are established, by the wheel steering angle obtained by the steering system model and at random
The road roughness that road excitation model obtains motivates while acting on established tire model, while will be by the wheel hub electricity
The unbalanced electromagnetic force that machine model obtains is applied to built vehicle Coupling Dynamic Model, and the tire model is by the wheel of generation
Tire power acts on vehicle Coupling Dynamic Model, and is calculated under certain operating condition by the vehicle Coupling Dynamic Model
To wheel movement amount and hub motor rotor relative shift then feed back to the tire model and hub motor mould respectively
Type.
2. a kind of wheel hub driving vehicle multi-source according to claim 1 motivates Coupling Dynamics Analysis method, feature exists
It can be mould determined by permanent magnet synchronous motor, switched reluctance machines and various asynchronous machines in: the hub motor model
Type.
3. a kind of wheel hub driving vehicle multi-source according to claim 1 motivates Coupling Dynamics Analysis method, feature exists
In: the steering system model can may be front-wheel steer for four-wheel steering.
4. a kind of wheel hub driving vehicle multi-source according to claim 1 motivates Coupling Dynamics Analysis method, feature exists
It is also possible to various nonlinear tire models in what: the tire model can be linear tire model.
5. a kind of wheel hub driving vehicle multi-source according to claim 1 motivates Coupling Dynamics Analysis method, feature exists
In: the random road excitation model can be Model in Time Domain, be also possible to frequency-domain model, can be and considers that each wheel is related
Property arbitrary excitation model, be also possible to not consider the single-wheel arbitrary excitation model of each wheel correlation.
6. a kind of wheel hub driving vehicle multi-source according to claim 1 motivates Coupling Dynamics Analysis method, feature exists
In: the vehicle Coupling Dynamic Model can be the Coupling Dynamic Model established using lumped parameter method, be also possible to
The Coupling Dynamic Model established using dynamics softwares such as such as ADAMS, Carsim.
7. a kind of wheel hub driving vehicle multi-source according to claim 1 motivates Coupling Dynamics Analysis method, feature exists
In: the steering system model can be the number established according to the various steering systems such as fluid pressure type, electro-hydraulic formula, electrodynamic type
Learn model.
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Cited By (2)
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| CN112100858A (en) * | 2020-09-18 | 2020-12-18 | 中国人民解放军海军工程大学 | Vibration deformation analysis method for single-point frequency under multi-source excitation system |
| CN113673026A (en) * | 2021-07-09 | 2021-11-19 | 湖北文理学院 | Method and system for calculating random electromagnetic vibration characteristics of hub motor |
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Application publication date: 20190326 |