Straight Line Characteristic Research Of Four Wheel Independent Drived Electric Vehicle

Four-wheel independent drive electric motor vehicle is new. As four wheels to be controlled by each independent motor, it is easy for Four-wheel independent drive electric motor vehicle to make the vehicle traction controllable and the chassis to be electronization and automation. Technology potation is supported the new traction system for improving safety, driving and stability.Based on the basal debugging, we carried out system identification, obtained the response curve and system model.Road test is carried out by following the four mode (identical-torque-mode, identical-state-mode, different torque between front axle and rear axle, different torque between left side and right side) on different condition (initial starting, acceleration, even pace, deceleration). Motor current, speed and slip ratio are analyzed. The results demonstrate that identical-state-mode is better than identical-torque-mode, sample car will leave the straight line when different torque is acted on left side and right side, which is impacted on traction difference value. And sample car will exhibited slipping when different torque is acted on front and rear. The bigger the difference value is, the more serious slip ratio is and the lower motor efficiency output.After modeling the vehicle by ADAMS, simulating by the road test data, comparing the result of the road test and the emulation, analyzing and revising the parameters of the vehicle, it is found that the vehicle could be more stable. The vehicle is satisfied with the experimental requirements.The research gave the best traction distribution mode for straight line drive, which could be the foundation of ramp test, side direction obstruction test.