Modelling and locomotion simulation of 6#x00D7;6 distributed electric driven ground vehicle on rough terrain

摘要

This paper intends to compensate the lack of fundamental theories of DED ground vehicle on the locomotion performance. Firstly, vehicle dynamic model in 3 dimensional space is established as well as some key modules such as driving motors and power batteries. Subsequently, simulation and experiment research on the locomotion performance of a DED vehicle is carried out on grade E road, which is a typical rough terrain. Finally, discussions and conclusions on the simulation are presented, which is helpful for the further research on the application and control of DED ground vehicle.