Research on Mechanism of Pivot Steering for Distributed Drive Electric Vehicles

doi:10.3901/JME.260342

Abstract

Abstract: The pivot steering function of distributed drive electric vehicles can significantly improve vehicle passability on narrow roads. In this paper, the mechanism of pivot steering of distributed drive electric vehicles is studied deeply, and the related theories are improved, which points out the direction of vehicle structure design and control strategy design. First, the dynamics model of distributed drive electric vehicle was established, and then the tire cornering/sliding process, tire force state and influencing factors of pivot steering were studied, and some regular conclusions were obtained. Based on the proportional relationship between wheel speed and yaw rate obtained by the above research, a pivot steering control strategy based on wheel speed control was established. Finally, the Carsim/Simulink joint simulation and real vehicle test were carried out for verification. The results show that the wheel sideslip angle during steady-state of pivot steering is only related to the vehicle structure, the ratio of wheel lateral force to longitudinal force is approximately the ratio of wheel track to wheelbase, and the wheel longitudinal force, lateral force and slip ratio keep the same under different yaw rates. The increase of wheel track to wheelbase ratio will reduce the longitudinal force and slip ratio required for pivot steering, and the wheel longitudinal force and lateral force are proportional to the road adhesion coefficient, but the slip ratio is not affected by the change of road adhesion coefficient. The proposed control strategy can accurately control the yaw rate and suppress the deviation in the steering process.

Key words: distributed drive electric vehicle, pivot steering, tire cornering/sliding, tire force, control strategy

CLC Number:

U461

SHI Biaofei, LI Liang, Lü Haoyu, XU Yinggang, LI Zhaonan. Research on Mechanism of Pivot Steering for Distributed Drive Electric Vehicles[J]. Journal of Mechanical Engineering, 2026, 62(12): 285-296.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260342

http://www.cjmenet.com.cn/EN/Y2026/V62/I12/285

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