面向分布式电驱底盘与角模块的并联变结构悬架设计

doi:10.19562/j.chinasae.qcgc.2025.07.017

Abstract

Abstract:

Distributed drive electric vehicles， characterized by multiple controllable DOFs and compact chassis structure， is an optimal platform for implementing advanced drive-by-wire chassis. For demand for extended motion functions and modular design of distributed drive electric chassis， a variable geometry suspension design method is proposed. By analyzing the chassis motion functions， the suspension design issue is transformed into a 2R1T parallel mechanism type synthesis problem. The concepts of subgroups and submanifolds are employed to establish a mapping relationship between the motion functions of the suspension linkages and their topological structures. Considering the constraint characteristics， pose capabilities， modularity， reconfigurability， and input-output motion decoupling of the mechanism， the topological structure optimization of the suspension is accomplished. Finally， a comparative performance analysis is carried out in terms of mechanism kinematics and vehicle dynamics. The results show that the suspension system based on parallel mechanism provides smooth and uninterrupted motion， without singular configurations within the posture workspace， demonstrating superior transmission efficiency and dexterity. The kinematic performance and ride comfort of the suspension system are significantly improved compared to those based on conventional configurations.

Key words: distributed drive electric chassis, wheel corner module, variable geometry suspension, parallel mechanism

Zhenhai Gao,Hanying Zhang,Zongzhi Han. Parallel Variable Geometry Suspension Design for Distributed Drive Electric Chassis with Corner Module Architecture[J].Automotive Engineering, 2025, 47(7): 1404-1414.

Figures/Tables 15

References 21

[1]	LIU S S， ZHANG L P， LIU Y F， et al. Motion posture control of corner module architecture intelligent electric vehicle on deep-potholed roads［J］. IEEE-ASME Transactions on Mechatronics， 2024， 29（6）：4480-4491.
[2]	WANG W， CHEN X B. Design methodology for wheel corner module topology based on position and orientation characteristics［J］. Mechanism and Machine Theory， 2019， 136： 122-140.
[3]	NTN Corporation. NTN technical review No.79［EB/OL］. （2011-11-13）［2024-08-23］. https：//www.ntnglobal.com/en/pro- ducts/review/pdf/NTN_TR79_en.pdf.
[4]	SCHAUB A. Robust perception from optical sensors for reactive behaviors in autonomous robotic vehicles［M］. Cham： Springer International Publishing， 2018： 133-148.
[5]	侯杰，鲁慧，高尚，等. 用于车辆的轮边角模块及具有其的车辆： CN202310410246.5［P］. 2023-07-04.
	HOU J， LU H， GAO S， et al. Wheel corner module for vehicles and vehicles equipped therewith： CN202310410246.5［P］. 2023-07-04.
[6]	SCHMITT P， MITCHELL W. Autonomous modular vehicle wheel assembly： US， 8757309［P］. 2014-06-24.
[7]	BÖHM A, KRAUS M. The rolling chassis from schaeffler spearheads new mobility solutions［EB/OL］. （2022-05-18）［2024-08-22］. https：//www.schaeffler.com/en/media/dates-events/kolloquium/digital-conference-book-2022/rolling-chassis/.
[8]	杨萍，苟斌，赵春来，等. 一种角模块和车辆： CN202311485211.4［P］. 2024-02-06.
	YANG P， GOU B， ZHAO C L， et al. A corner module and vehicle： CN202311485211.4［P］. 2024-02-06.
[9]	陈辛波，刘林晶，黄露，等. 一体化线控独立转向五连杆悬架导向机构系统： CN201320089466.4［P］. 2013-09-04.
	CHEN X B， LIU L J， HUANG L， et al. Integrated steering-by- wire independent suspension five-link guidance mechanism system： CN201320089466.4［P］. 2013-09-04.
[10]	陈辛波，刘林晶，黄露，等. 一体化线控独立转向四连杆悬架导向机构系统： CN201320089212.2［P］. 2013-09-04.
	CHEN X B， LIU L J， HUANG L， et al. Integrated steering-by- wire independent suspension four-link guidance mechanism system： CN201320089212.2［P］. 2013-09-04.
[11]	SCHAEFFLER AG. Schaeffler mover 1.0［EB/OL］. （2018-11-23）［2024-06-27］. https：//www.poschwatta.de/projects/schaeffler- mover/.
[12]	Hyundai Mobis Co. Ltd. Corner module apparatus for vehicle： KR20210162193［P］. 2023-05-31.
[13]	Protean Electric Limited. A double wishbone suspension system for an in-wheel electric motor： US202017599771［P］. 2022-05-12.
[14]	高振海，温文昊，唐明弘，等. 基于混合神经网络的汽车运动状态估计［J］. 汽车工程， 2022， 44（10）： 1527-1536.
	GAO Z H， WEN W H， TANG M H， et al. Estimation of vehicle motion state based on hybrid neural network［J］. Automotive Engineering， 2022， 44（10）： 1527-1536.
[15]	YU M， EVANGELOU S A， DINI D. Advances in active suspension systems for road vehicles［J］. Engineering， 2024， 33： 160-177.
[16]	YU M， CHENG C， EVANGELOU S A， et al. Series active variable geometry suspension： full-car prototyping and road testing［J］. IEEE/ASME Transactions on Mechatronics， 2022， 27（3）： 1332-1344.
[17]	FENG Z L， YU M， EVANGELOU S A， et al. Mu-Synthesis PID control of full-car with parallel active link suspension under variable payload［J］. IEEE Transactions on Vehicular Technology， 2023， 72（1）： 176-189.
[18]	ZHANG W L， DRUGGE L， NYBACKA M， et al. Active camber for enhancing path following and yaw stability of over-actuated autonomous electric vehicles［J］. Vehicle System Dynamics， 2020， 59（5）： 800-821.
[19]	WANG W， CHEN X B， WANG J M. Motor/generator applications in electrified vehicle chassis-a survey［J］. IEEE Transactions on Transportation Electrification， 2019， 5（3）： 584-601.
[20]	MALVEZZI F， HESS COELHO T A， ORSINO R M M. Feasibility and performance analyses for an active geometry control suspension system for over-actuated vehicles［J］. Journal of the Brazilian Society of Mechanical Sciences and Engineering， 2022， 44（5）： 178.
[21]	NÉMETH B， GÁSPÁR P. Nonlinear analysis and control of a variable-geometry suspension system［J］. Control Engineering Practice， 2017， 61： 279-291.

位移流形	支链拓扑
｛3｝	^u R ^v R ^w P	^u R ^w P ^v R	^uv U ^w P	^uv U ^w Pa
｛3｝	^u R ^v R ^v R	^uv U ^v R	^uv U ^w λ
｛4｝	S ^w P	S ^w Pa	S ^w λ	^uv U ^w P ^w R
	^uv U ^w R ^w P	^uv U ^w Pa ^w R	^uv U ^u P ^v R	^uv U ^v R ^u P
	^uv U ^u Pa ^v R	^uv U ^v R ^v R
｛5｝	^uv U ^w P ^uv U	^w P ^uv U ^uv U	^u R ^uv U ^uv U	^uv U ^u R ^uv U
｛5｝	^v R ^u PS	^u P ^v RS	S ^v R ^v R	^wu US
｛6｝	^uv U ^w PS	^w P ^uv US	^w PSS	^u RSS
｛6｝	^u R ^uv US	^uv U ^u RS

序号	构型	图号	OFR	CD	AS₁	AS₂	2CRAs	结果
1	^v R ^uv U- ^vR^v R ^u P ^uv U-2 ^uv U ^wPS	3（a）	0.5	1.5 ○	0.67	0.67	●	●○
2	^v R ^uv U- ^vR^v R ^uv U- ^wv U ^uPS-（ ^uv U ^wPS）	3（b）	0.5	1 ●	0.67	0.67	●	●●
3	^v RS- ^vR^v R ^u PS-2 ^wP^uv U ^uv U	3（c）	0.33 ○	1 ●	0.67	0 ○	●	●●○○
4	^v R ^uv U- ^v R ^uPS-2 ^wP^uv US	3（d）	1 ●	1.5 ○	1 ●	0.33 ○	●	●●●○○
5	^v RS- ^vP^uv U ^uv U- ^uv U ^wPS-（ ^uv U ^wPS）	3（e）	0 ○	1 ●	1 ●	0.67	●	●●●○
6	^v RS- ^uP^v RS- ^uR^uv US-（ ^vR^uv U ^u PS）	3（f）	1 ●	1 ●	0.33 ○	0.33 ○	●	●●●○○
7	^u λS- ^uλS-2 ^uR^uv US	3（g）	1 ●	2 ○	0 ○	0 ○	●	●●○○○
8	^u PaS- ^v R ^wP^uv U- ^wP^uv US-（ ^uv U ^wPS）	3（h）	1 ●	1 ●	1 ●	0.67	●	●●●●
9	^u PaS-2 ^uv U ^uP^uv U-（ ^uv U ^wPS）	3（i）	0.67	1 ●	1 ●	1 ●	○	●●●○
10	^uRS-2 ^uv U ^wP^uv U	4（a）	0 ○	1 ●	0.67	0.67	○	●○○
11	^vλS-2 ^u R ^wPS	4（b）	1 ●	1.5 ○	0.67	0.67	○	●○○
12	^v R ^uv U- ^vR^v R ^u P ^uv U-2 ^uR^uv US		0.5	1.5 ○	0 ○	0 ○	●	● ○○○
13	^v R ^uv U- ^v R ^wP^uv U- ^wP^uv US -（ ^uv U ^wPS）		0.5	1 ●	1 ●	0.67	●	●●●
14	^u λS- ^vR^w R ^uv U- ^uv U ^wPS-（ ^uv U ^wPS）		1 ●	1 ●	1 ●	1 ●	●	●●●●●

全域性能指标	λS-UPS-RRU构型	Volvo-ACM构型
全域传递指标	0.742 1	0.760 3
优质工作空间比	0.771 1	0.686 7

参数	数值
簧载质量 /kg	1 960
单轮非簧载质量 /kg	75
弹簧刚度 /（kN·m^-1）	85
减振器阻尼系数/（N·s·m^-1）	1 200
轮胎刚度 /（kN·m^-1）	218
轮距 /mm	1 800
轴距 /mm	3 000
质心高度/mm	654
质心至前轴距离 /mm	1 478

构型	车身加速度均方根值 /（m·s^-2）	车轮动载荷均方根值 /N
λS-UPS-RRU构型	0.357	4 790.41
Volvo-ACM构型	0.560	5 204.05
主销转向双横臂构型	0.684	8 429.91
常规双横臂构型	0.388	5 986.87

Parallel Variable Geometry Suspension Design for Distributed Drive Electric Chassis with Corner Module Architecture

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 15

References 21

Related Articles 0

Metrics

Comments

Recommended 0