Research On The Steaty-State Cornering Of 4WD-EV

4WD-EV is a new type of electric vehicle, it is easy to implement vehicle driving force control, chassis electronics and the initiative by using four independently controlled motor drives the four wheels. Research on steady-state cornering characteristics of 4WD in the different force distribution pattern, and lay the foundation for the stability control in cornering condition.On the platform of 4WD-EV, the basic test experiment and system identification had been completed; the sourcing curve and control model of force control had been obtained.The steady-state cornering dynamical theory model had been established, the rear wheels'side-slip-angle was calculated in the basis of kinematics, and then the longitude force and lateral force had been got, the different force distribution effect on the performance of the each wheel had been analysis.In the force distribution mode of equal-torque and equal-power, the steady-state cornering experiment of 4WD-EV had been completed; the riding track of the vehicle was surveyed by using grid method, the regular pattern of radius of each wheel and the vehicle was obtained; the trend of each motors'electric current and its effect on wheels'rolling speed in the cornering experiment had been analysis; the formula of cornering slip-rate was achieved, the relation between slip-rate ,cornering radius and rolling speed was obtained, and then the law of steering angle and speed effect on the slip-rate had been analysis.The simulation mode of 4WD-EV had been established by ADAMS, the steady-state cornering simulation in the force distribution mode of equal-torque was completed, the trend of each wheel's steering radius, rolling speed and slip-rate was achieved, the result of the simulation was basically consistent with the result of experiment; the each wheel's forces of the simulation was basically consistent with the theory calculate value.