Please wait a minute...
 首页  期刊介绍 期刊订阅 联系我们 横山亮次奖 百年刊庆
最新录用  |  预出版  |  当期目录  |  过刊浏览  |  阅读排行  |  下载排行  |  引用排行  |  横山亮次奖  |  百年刊庆
清华大学学报(自然科学版)  2024, Vol. 64 Issue (1): 25-32    DOI: 10.16511/j.cnki.qhdxxb.2023.22.038
  车辆与交通 本期目录 | 过刊浏览 | 高级检索 |
罗荣康, 俞志豪, 吴佩宝, 侯之超
清华大学 车辆与运载学院, 北京 100084
Dynamic analysis of flexible coupling for an electric wheel with a suspended drive motor
LUO Rongkang, YU Zhihao, WU Peibao, HOU Zhichao
School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China
全文: PDF(5739 KB)   HTML 
输出: BibTeX | EndNote (RIS)      
摘要 内悬置电动轮构型可延长电机使用寿命,缓解簧下质量过大造成的舒适性问题。由于轮内空间有限,用于动力传递的柔性联轴器结构和性能直接决定内悬置电动轮的性能。该文提出了一种面向内悬置电动轮的柔性联轴器。该联轴器是由多个连接臂组成的平面并联机构,每个连接臂由2个平行四边形机构串联而成。建立了该联轴器机构的运动学和动力学模型,给出了偏心度、连杆静载荷及动载荷的计算方法。结合一组结构参数,对联轴器的偏心度、连杆静载荷及动载荷进行了定量分析。结果表明:该联轴器允许传动系统在动力传动过程中沿垂向跳动,具有等速传动、占用轴向空间小、偏心行程大以及动载荷小等特点。该联轴器可望推进内悬置电动轮的工程化研发。
E-mail Alert
关键词 电动轮电机悬置柔性联轴器平面并联机构动力学分析    
Abstract:[Objective] Compared with the commercially available centralized motor drive systems, in-wheel drive motors are installed inside the wheels and provide high transmission efficiency, enhanced control flexibility, and ease of modular vehicle design. In mainstream configurations of in-wheel drive motors, the power and transmission devices are rigidly connected to the chassis, thereby increasing the unsprung mass of the vehicle and the rotational inertia of the wheels. This increase in unsprung mass and rotational inertia results in higher vertical acceleration of the vehicle body and increased dynamic loads on the wheels. Moreover, due to the lack of buffering effect from the centralized driving vehicle's half shaft, the rotational vibration of the wheels and the longitudinal vibration of the vehicle are more prominent. Electric wheels with suspended drive motors can not only extend motor life but also alleviate comfort problems as a result of excessive unsprung mass. Designing flexible coupling within limited wheel space in an electric wheel is a critical challenge.[Methods] In this paper, a flexible coupling was proposed for an electric wheel with a suspended drive motor. The coupling was a planar parallel mechanism composed of several connecting arms, each of which consisted of two parallelogram mechanisms linked in series. As only the rotational joints existed and the stiffness of the input and output disks were high, the analysis assumed that the connecting rod only experienced axial deformation and the input and output disks were treated as rigid bodies. Under these assumptions, kinematic and dynamic models were established for the coupling utilizing the geometric relationships between the rods with the principles of mechanical equilibrium. Coupling eccentricity and the static and dynamic loads of the components were then derived. To demonstrate, a set of parameters were selected for the coupling, and numerical calculations were performed for the eccentricity, static load, and dynamic load of the coupling.[Results] The results show that the coupling can transmit power with constant velocity and allows the transmission system to jump in vertical directions during power transmission. The total eccentric stroke of this coupling reaches 58.2 mm, which is sufficient for an in-wheel suspended drive motor. Application of 400 N·m torque and 1 000 r/min to the input shaft leads to a maximum static load on the connecting rod of approximately 1 300 N and a maximum dynamic load on the output disk of approximately 35 N. Under the same conditions, the dynamic load on the proposed coupling is only 1/10 of that on the Oldham coupling.[Conclusions] The coupling proposed in this paper can have a large eccentric stroke while occupying little axial space and imposing negligible dynamic load. This coupling can be helpful in developing electric wheels with suspended drive motors. The flexibility of the coupling allows the motor and transmission components to move independently from the wheel, which reduces the unsprung mass and solves the problem of vibration and noise. This coupling has significant advantages over previous solutions in terms of size, dynamic load, and mechanical efficiency. This work provides a reference for designing in-wheel suspended drive motors.
Key wordselectrical wheel    motor suspension    flexible coupling    planar parallel mechanism    dynamic analysis
收稿日期: 2023-03-06      出版日期: 2023-11-30
通讯作者: 侯之超,教授,     E-mail:
作者简介: 罗荣康(1995—),男,博士研究生。
罗荣康, 俞志豪, 吴佩宝, 侯之超. 内悬置电动轮的柔性联轴器动力学性能分析[J]. 清华大学学报(自然科学版), 2024, 64(1): 25-32.
LUO Rongkang, YU Zhihao, WU Peibao, HOU Zhichao. Dynamic analysis of flexible coupling for an electric wheel with a suspended drive motor. Journal of Tsinghua University(Science and Technology), 2024, 64(1): 25-32.
链接本文:  或
[1] MURATA S. Innovation by in-wheel-motor drive unit[J]. Vehicle System Dynamics, 2012, 50(6):807-830.
[2] 史天泽. 轮毂电机驱动电动车悬架和转向系统设计与性能匹配[D]. 长春:吉林大学, 2015. SHI T Z. Suspension and steering system design and performance matching for in-wheel motor electric vehicle[D]. Changchun:Jilin University, 2015. (in Chinese)
[3] ZUO S G, LI D Q, MAO Y, et al. Longitudinal vibration analysis and suppression of electric wheel system driven by in-wheel motor considering unbalanced magnetic pull[J]. Proceedings of the Institution of Mechanical Engineers, Part D:Journal of Automobile Engineering, 2019, 233(11):2729-2745.
[4] QIN Y C, ZHAO Z, WANG Z F, et al. Study of longitudinal-vertical dynamics for in-wheel motor-driven electric vehicles[J]. Automotive Innovation, 2021, 4(2):227-237.
[5] LI Z X, SONG X Y, CHEN X, et al. Dynamic characteristics analysis of the hub direct drive-air suspension system from vertical and longitudinal directions[J]. Shock and Vibration, 2021, 2021:8891860.
[6] NAGAYA G. In-wheel motor system:US7287611[P]. 2007-10-30.
[7] LONG G M, DING F, ZHANG N, et al. Regenerative active suspension system with residual energy for in-wheel motor driven electric vehicle[J]. Applied Energy, 2020, 260:114180.
[8] MIZUTANI R, KURATA F, YOGO S, et al. In-wheel motor with high durability:US7641010[P]. 2010-01-05.
[9] HÖFER A, ZEITVOGEL D, FRIEDRICH H E, et al. Holistic view of chassis, powertrain and driving dynamics control[J]. ATZ Worldwide, 2015, 117(4):48-53.
[10] 秦宇迪, 孟令盛, 邹远棘, 等. 电动车轮:CN209851997U[P]. 2019-12-27. QIN Y D, MENG L S, ZOU Y J, et al. Electric vehicle wheels:CN209851997U[P]. 2019-12-27. (in Chinese)
[11] 罗玉涛, 谭迪. 一种带新型内置悬置系统的电动轮结构研究[J]. 汽车工程, 2013, 35(12):1105-1110. LUO Y T, TAN D. A research on the hub-motor driven wheel structure with a novel built-in mounting system[J]. Automotive Engineering, 2013, 35(12):1105-1110. (in Chinese)
[12] PRUCKNER A, DAVY E, SCHLICHTE D, et al. Electric single wheel drive optimised installation space at maximum vehicle dynamics[J]. ATZ Worldwide, 2014, 116(3):28-33.
[13] 陈辛波, 许乃文, 肖棋文, 等. 双纵臂悬架齿形链减速轮边电驱动系统:CN203832178U[P]. 2014-09-17. CHEN X B, XU N W, XIAO Q W, et al. Wheel side electric drive system for double trailing arm suspension with toothed chain reduction:CN203832178U[P]. 2014-09-17. (in Chinese)
[14] TIAN M J, GAO B Z. Dynamics analysis of a novel in-wheel powertrain system combined with dynamic vibration absorber[J]. Mechanism and Machine Theory, 2021, 156:104148.
[15] 侯之超, 罗荣康, 吴佩宝. 平行偏心联轴器及电动轮:CN213839319U[P]. 2021-07-30. HOU Z C, LUO R K, WU P B. Parallel eccentric coupling and in-wheel motor drive unit:CN213839319U[P]. 2021-07-30. (in Chinese)
[16] 侯之超, 罗荣康, 吴佩宝. 轮架、电动车轮、汽车底盘以及新能源汽车:CN213676349U[P]. 2021-07-13. HOU Z C, LUO R K, WU P B. Wheel carrier, electric vehicle wheels, vehicle chassis, and new energy vehicles:CN213676349U[P]. 2021-07-13. (in Chinese)
[17] 侯之超, 罗荣康, 吴佩宝. 电动车轮、汽车底盘及新能源汽车:CN213676362U[P]. 2021-07-13. HOU Z C, LUO R K, WU P B. Electric vehicle wheels, vehicle chassis and new energy vehicles:CN213676362U[P]. 2021-07-13. (in Chinese)
[18] TSAI L W. Oldham-coupling second-harmonic balancer[J]. Journal of Mechanical Design, 1984, 106(3):285-290.
[1] 吴青建, 吴宏宇, 江智宏, 杨运强, 阎绍泽, 谭莉杰. 面向水下定点探测的水下滑翔机控制参数优化[J]. 清华大学学报(自然科学版), 2023, 63(1): 62-70.
[2] 陈浩, 袁良信, 郑四发, 连小珉. 基于能耗优化的电动轮汽车转矩动态分配[J]. 清华大学学报(自然科学版), 2020, 60(2): 132-138.
[3] 陈浩, 袁良信, 孙涛, 郑四发, 连小珉. 电动轮汽车转矩矢量控制系统试验平台[J]. 清华大学学报(自然科学版), 2019, 59(2): 162-168.
Full text



版权所有 © 《清华大学学报(自然科学版)》编辑部
本系统由北京玛格泰克科技发展有限公司设计开发 技术支持