中文摘要：

针对研究四轮独立驱动电动汽车差速行驶问题时仅以动力轮为研究对象而忽略车架内力调节作用的局限性,建立含有车架内力和车轮侧向力的汽车纵向动力学数学模型。通过对模型中各车轮的受力细分,研究四轮独立驱动电动汽车的自动差速原理,并制定＂次最优转矩组合＂的控制策略。在ADAMS中构建该车辆虚拟样机并对其数学模型、差速性能、控制性能进行仿真验证。结果表明,数学模型准确,车辆的自动差速性能和控制性能更佳。

英文摘要：

Focusing on the limitation of the research on differential driving of four wheels independent drive electric vehicle （4WID-EV）, which always takes power wheels as research object and neglects the effect of internal force adjustment of vehicle chassis, this paper establishes a vehicle longitudinal dynamics mathematical model with chassis internal force and tire lateral force. Automatic differential principle for 4WID-EV is studied through detailed analysis of the forces imposed on each wheel in the model and the control strategy of ＂suboptimal torque combination＂ is formulated. The virtual sample of the vehicle is constructed in Automatic Dynamic Analysis of Mechanical Systems （ADAMS） and its mathematical model, differential and control performance are verified through simulation. Results show that the mathematical model is accurate and able to improve the automatic differential and control performance of the vehicle.