EI、Scopus 收录
Volume 53 Issue 9
Sep.  2021
Turn off MathJax
Article Contents
Li Shaohua, Feng Guizhen, Ding Hu. Vibration analysis of electric vehicle-road coupling system considering tire-road multi-point contact. Chinese Journal of Theoretical and Applied Mechanics, 2021, 53(9): 2554-2568 doi: 10.6052/0459-1879-21-239
Citation: Li Shaohua, Feng Guizhen, Ding Hu. Vibration analysis of electric vehicle-road coupling system considering tire-road multi-point contact. Chinese Journal of Theoretical and Applied Mechanics, 2021, 53(9): 2554-2568 doi: 10.6052/0459-1879-21-239


doi: 10.6052/0459-1879-21-239
  • Received Date: 2021-05-31
  • Accepted Date: 2021-08-10
  • Available Online: 2021-08-11
  • Publish Date: 2021-09-18
  • The unsprung mass of the electric vehicle driven by the hub motor is large, which makes the tire dynamic load increase, and the motor excitation further aggravates the wheel vibration. Meanwhile, the dynamic calculation results of the simplified model of single point contact between tire and road are different from the actual. Thus, considering the electromagnetic excitation of the motor, nonlinear foundation and multi-point contact between tire and road, the electromechanical coupling dynamic model of the electric vehicle-road system is established. The vertical vibration of the nonlinear foundation beam is derived by the Galerkin method, and the accurate expression of the nonlinear integral term in the nonlinear foundation beam is derived by using the integral sum formula. A simple method to select the truncation order of the road is proposed, which is verified with the convergence of road response. Accordingly, the effects of multi-point contact between tire and road, nonlinear foundation, motor excitation, vehicle speed and road roughness amplitude on vehicle response are studied. The results show that among the effects of nonlinear foundation and multi-point contact on the vehicle response, the tire dynamic load has the largest influence, and the vehicle body acceleration and suspension dynamic displacement have a small effect. Moreover, when the motor excitation is considered, the influence of the two on the vehicle response increases. From the perspective of the influence on the road response, the motor excitation has the greatest, the nonlinear foundation has the second influence, and the multi-point contact has the less. The established model and research method provide a new idea for vertical dynamics analysis of electric vehicles.


  • loading
  • [1]
    《中国公路学报》编辑部. 中国汽车工程学术研究综述﹒2017. 中国公路学报, 2017, 30(6): 1-197 (Editorial Department of China Journal of Highway and Transport. Review on China’s automotive engineering research progress﹒2017. China Journal of Highway and Transport, 2017, 30(6): 1-197 (in Chinese) doi: 10.3969/j.issn.1001-7372.2017.06.001
    Zhang XP, Liang YN, Yu EH, et al. Review of electric vehicle policies in China: Content summary and effect analysis. Renewable and Sustainable Energy Reviews, 2016, 70: 698-714
    李勇, 徐兴, 孙晓东等. 轮毂电机驱动技术研究概况及发展综述. 电机与控制应用, 2017, 44(6): 1-7 (Li Yong, Xu Xing, Sun Xiaodong, et al. Review and future development of in-wheel motor drive technology. Electric Machines & Control Application, 2017, 44(6): 1-7 (in Chinese) doi: 10.3969/j.issn.1673-6540.2017.06.001
    金智林, 陈国钰, 赵万忠. 轮毂电机驱动电动汽车的侧翻稳定性分析与控制. 中国机械工程, 2018, 29(15): 1772-1779 (Jin Zhilin, Chen Guoyu, Zhao Wanzhong. Rollover stability and control of in-wheel motor drive electric vehicles. China Mechanical Engineeering, 2018, 29(15): 1772-1779 (in Chinese) doi: 10.3969/j.issn.1004-132X.2018.15.002
    张利鹏, 李亮, 祁炳楠等. 双电机分布式驱动汽车高速稳定性机电耦合控制. 机械工程学报, 2015, 51(16): 29-40 (Zhang Lipeng, Li Liang, Qi Bingnan, et al. High speed stability electromechanical coupling control for dual-motor distributed drive electric vehicle. Journal of Mechanical Engineering, 2015, 51(16): 29-40 (in Chinese) doi: 10.3901/JME.2015.16.029
    平先尧, 李亮, 程硕等. 四轮独立驱动汽车多工况路面附着系数识别研究. 机械工程学报, 2019, 55(22): 80-92 (Ping Xianyao, Li Liang, Cheng Shuo, et al. Tire-road friction coefficient estimators for 4WID electric vehicles on diverse road conditions. Journal of Mechanical Engineering, 2019, 55(22): 80-92 (in Chinese)
    张志达, 郑玲, 吴行等. 基于鲁棒自适应UKF的分布式电动汽车状态估计. 中国科学: 技术科学, 2020, 50(11): 1461-1473 (Zhang Zhida, Zheng Ling, Wu Hang, et al. State estimation of distributed electric vehicle based on robust adaptive UKF. Scientia Sinica Technologica, 2020, 50(11): 1461-1473 (in Chinese) doi: 10.1360/SST-2019-0326
    Qin YC, He CC, Shao XX, et al. Vibration mitigation for in-wheel switched reluctance motor driven electric vehicle with dynamic vibration absorbing structures. Journal of Sound and Vibration, 2018, 419: 249-267 doi: 10.1016/j.jsv.2018.01.010
    Shao XX, Naghdy F, Du HP, et al. Coupling effect between road excitation and an in-wheel switched reluctance motor on vehicle ride comfort and active suspension control. Journal of Sound and Vibration, 2019, 443: 683-702 doi: 10.1016/j.jsv.2018.12.012
    Li Z, Zheng L, Ren Y, et al. Multi-objective optimization of active suspension system in electric vehicle with In-Wheel-Motor against the negative electromechanical coupling effects. Mechanical Systems and Signal Processing, 2019, 116: 545-565 doi: 10.1016/j.ymssp.2018.07.001
    Younesian D, Hosseinkhani A, Askari H, et al. Elastic and viscoelastic foundations: A review on linear and nonlinear vibration modeling and applications. Nonlinear Dynamics, 2019, 97(1): 853-895 doi: 10.1007/s11071-019-04977-9
    Froio D, Rizzi E, Simoes F, et al. Universal analytical solution of the steady-state response of an infinite beam on a Pasternak elastic foundation under moving load. International Journal of Solids and Structures, 2018, 132: 245-263
    Esen I. Dynamic response of a functionally graded Timoshenko beam on two-parameter elastic foundations due to a variable velocity moving mass. International Journal of Mechanical Sciences, 2019, 153-154: 21-35 doi: 10.1016/j.ijmecsci.2019.01.033
    李韶华, 路永婕, 任剑莹. 重型汽车-道路三维相互作用动力学研究. 北京: 科学出版社, 2020: 1-10

    (Li Shaohua, Lu Yongjie, Ren Jianying. Study on Dynamics of Three Dimensional Interaction Between Heavy Vehicle and Road. Beijing: Science Press, 2020: 1-10 (in Chinese))
    Hien TD, Hung ND, Kien NT, et al. The variability of dynamic responses of beams resting on elastic foundation subjected to vehicle with random system parameters. Applied Mathematical Modelling, 2019, 67: 676-687 doi: 10.1016/j.apm.2018.11.018
    Krishnanunni CG, Rao BN. Decoupled technique for dynamic response of vehicle-pavement systems. Engineering Structures, 2019, 191: 264-279 doi: 10.1016/j.engstruct.2019.04.042
    Li SH, Yang SP. Investigation of the interaction between a vehicle and the road using the second road excitation on the vehicle. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2009, 223(7): 855-863 doi: 10.1243/09544070JAUTO1046
    Yang SP, Li SH, Lu YJ. Investigation on dynamical interaction between a heavy vehicle and road pavement. Vehicle System Dynamics, 2010, 48(8): 923-944 doi: 10.1080/00423110903243166
    黄晓明, 郑彬双. 沥青路面抗滑性能研究现状与展望. 中国公路学报, 2019, 32(4): 32-49 (Huang Xiaoming, Zheng Binshuang. Research status and progress for skid resistance performance of asphalt pavements. China Journal of Highway and Transport, 2019, 32(4): 32-49 (in Chinese)
    孙加亮, 田强, 胡海岩. 多柔体系统动力学建模与优化研究进展. 力学学报, 2019, 51(6): 1565-1586 (Sun Jialiang, Tian Qiang, Hu Haiyan. Advances in dynamic modeling and optimization of flexible multibody systems. Chinese Journal of Theoretical and Applied Mechanics, 2019, 51(6): 1565-1586 (in Chinese) doi: 10.6052/0459-1879-19-212
    刘志浩, 高钦和, 于传强等. 重载轮胎面内欧拉梁模型及耦合振动特性研究. 振动工程学报, 2019, 32(1): 107-119 (Liu Zhihao, Gao Qin, Yu Chuanqiang, et al. Study on the model of euler beam and coupling vibration characteristics of heavy duty tire. Journal of Vibration Engineering, 2019, 32(1): 107-119 (in Chinese)
    王立安, 赵建昌, 王作伟. 汽车行驶诱发地表振动的解析研究. 力学学报, 2020, 52(5): 1509-1518 (Wang Li’an, Zhao Jianchang, Wang Zuowei. Analytical study on ground vibration induced by moving vehicle. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(5): 1509-1518 (in Chinese) doi: 10.6052/0459-1879-20-033
    Zhang Y, Zhao HS, Lie ST. A nonlinear multi-spring tire model for dynamic analysis of vehicle-bridge interaction system considering separation and road roughness. Journal of Sound and Vibration, 2018, 4(36): 112-137
    Deng L, Cao R, Wang W, et al. A multi-point tire model for studying bridge-vehicle coupled vibration. International Journal of Structural Stability and Dynamics, 2016, 16(8): 1550047 doi: 10.1142/S0219455415500479
    Ding H, Li Y, Chen LQ. Nonlinear Vibration of a Beam with Asymmetric Elastic Supports. Nonlinear Dynamics, 2019, 95(2): 2543-2554
    Singh SJ, Harsha SP. Nonlinear dynamic analysis of sandwich S-FGM plate resting on Pasternak foundation under thermal environment. European Journal of Mechanics A Solids, 2019, 76: 155-179 doi: 10.1016/j.euromechsol.2019.04.005
    Yang SP, Chen LQ, Li SH. Dynamics of Vehicle-road Coupled System. Beijing: Springer jointly published with Science Press, 2015: 80-90.
    冯桂珍, 李韶华, 路永婕. 考虑弹性支撑边界条件的电动汽车-路面系统机电耦合振动特性分析. 中国公路学报, 2020, 33(8): 81-91 (Feng Guizhen, Li Shaohua, Lu Yongjie. Analysis of electromechanical coupling vibration characteristics of electric vehicle-road system considering elastically supported boundary conditions. China Journal of Highway and Transport, 2020, 33(8): 81-91 (in Chinese)
    钟银辉, 李以农, 杨超等. 基于主动悬架控制轮边驱动电动车垂向振动研究. 振动与冲击, 2017, 36(11): 242-247 (Zhong Yinhui, Li Yinong, Yang Chao, et al. Vertical vibration of in-wheel motor electric vehicles based on active suspension control. Journal of vibration of shock, 2017, 36(11): 242-247 (in Chinese)
    邓学钧, 黄晓明. 路面设计原理与方法. 北京: 人民交通出版社, 2001: 107-142

    (Deng Xuejun, Huang Xiaoming. Theory and Method of Road Design. Beijing: China Communications Press, 2001: 107-142 (in Chinese))
    Senalp AD, Arikoglu A, Ozkol I. Dynamic response of a finite length Euler-Bernoulli beam on linear and nonlinear viscoelastic foundations to a concentrated moving force. Journal of Mechanical Science and Technology, 2010, 24(10): 1957-1961 doi: 10.1007/s12206-010-0704-x
    张义民, 薛玉春, 贺向东. 基于开关磁阻电机驱动系统的电动汽车振动研究. 汽车工程, 2007, 29(1): 46-49 (Zhang Yimin, Xue Yuchun, He Xiangdong. A research on the vibration of an electric vehicle using switched reluctance motor as drive system. Automotive Engineering, 2007, 29(1): 46-49 (in Chinese) doi: 10.3321/j.issn:1000-680X.2007.01.010
    Chen HY, Ding H, Li SH, et al. Convergent term of the galerkin truncation for dynamic response of sandwich beams on nonlinear foundations. Journal of Sound and Vibration, 2020, 483: 115514 doi: 10.1016/j.jsv.2020.115514
  • 加载中


    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(23)  / Tables(2)

    Article Metrics

    Article views (616) PDF downloads(127) Cited by()
    Proportional views


    DownLoad:  Full-Size Img  PowerPoint