车辆侧倾驱动机构设计与试验

doi:10.13229/j.cnki.jdxbgxb.20211137

摘要/Abstract

摘要：

为提高重心较高的车辆弯道行驶稳定性，根据车辆侧倾产生的重力矩与离心力矩平衡避免车辆转弯侧翻的技术方案，设计了一种车辆侧倾驱动机构，采用矢量多边形法建立侧倾驱动机构运动学模型，并分析侧倾驱动与侧倾执行参数之间的关系。研制了应用侧倾驱动机构的主动侧倾倒三轮样车并进行S形轨迹转弯侧倾试验研究，以理论侧倾执行参数为目标参数，求解电机工作的理论值并作为输入条件，对比分析了电机与车辆侧倾参数的理论与试验数据，试验结果表明：试验数据与理论分析数据具有一致性，侧倾角均方根误差为0.89°，能防止车辆转弯侧翻，验证了侧倾驱动机构设计方案可行、运动学分析计算正确及车辆侧倾驱动控制可靠。

关键词: 车辆工程, 车辆侧倾, 倒三轮, 侧倾驱动机构, 运动学

Abstract:

In order to improve the driving stability of the narrow vehicle on a bend， a tilt-driving mechanism is designed according to balancing the gravity torque and the centrifugal torque generated by vehicle tilting to avoid vehicle roller. The kinematics model of the tilt-driving mechanism is established by vector polygon method， which analyzes the relationship between tilt driving and tilt executing parameters. An active tilt reverse three wheels prototype vehicle with the tilting-drive mechanism is developed. And the turning and tilting experiment of S-track is conducted. Taking the theoretical tilt execution parameters as the target parameters， the theoretical value of motor is solved and used as the input. The theoretical and experimental data of motor and vehicle tilt parameters are compared and analyzed. Finally， the experiment results show that the experimental data are consistent with the theoretical data and the root mean square error of tilt angle is 0.89°. It verifies that the design scheme of the tilt-driving mechanism is feasible and the kinematics analysis is correct. At the same time， the vehicle tilt-driving control is verified to be reliable.

Key words: vehicle engineering, vehicle tilt, reverse three wheels, tilt-driving mechanism, kinematics

中图分类号:

U463.2

刘平义,李晓婷,高偌霖,李海涛,魏文军,王亚. 车辆侧倾驱动机构设计与试验[J]. 吉林大学学报(工学版), 2023, 53(8): 2185-2192.

Ping-yi LIU,Xiao-ting LI,Ruo-lin GAO,Hai-tao LI,Wen-jun WEI,Ya WANG. Design and experiment of tilt-driving mechanism for the vehicle[J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(8): 2185-2192.

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参数	数值	参数	数值
i_q	150	d₂/m	0.196
L₁/m	0.198	d/m	0.500
L₂/m	0.258	a/m	0.079
L₃/m	0.169	b/m	0.098
d₁/m	0.298	z/m	0.140
L₄/m	0.276	r₀/m	0.025
L₅/m	0.196	δ₁/（°）	13.57
L₆/m	0.276	γ₁/（°）	12.04