Design And Experiment Research Of Four Wheel Independent Drive Chassis

In this thesis, we introduced the Four Wheel Independent Drive Electric Chassis (4WIDEC), which is designed as a special classis device for the working environment on the vessel deck. Firstly, we list different kinds of steering styles, make a comparison of them and choose the four wheel independent drive skid steering as the optimum. In order to achieve this, every wheel is drive by a motor independently.Following this, we particularly analyze the two different skid steering styles, one is that the same side wheels with the same speed and the other is that the speeds of the four wheels is controlled independently, and we get the relationship between the steering radius and speed with the rotor speed of each wheel. On the basis of this kinematic analysis, we calculate the power consumption of the chassis from the power supplied for the motors and the powers consumed by the resistance of the chassis, and discover three methods for power optimization. Then we mainly introduce the design of the4WIDEC. The4WIDEC design include the overall space arrangement, the electrical recourse and motor selection, electric system design and system software compilation. At last, we measure the traction force and the brake distance of the4WIDEC. What is more, we test the4WIDEC and validate the kinematic analysis and the three methods for power optimization. All these works are significant reference for the future design and modification.