Steady-State Model Research of Nine Degrees of Freedom for Electric Vehicle with Motorized Wheels

A Steady-State model with nine degrees of freedom primarily used in driving mode for motorized wheels electric vehicle has been developed, in which the related equations of motion and the state variables are deduced. With Matlab/Simulink software, the computer simulation model is built. The kinematics properties of the model have been studied by the simulation of constant velocity steering and accelerated steering. The validity of the model is confirmed by simulation results and lays the foundation for the dynamic characteristic research of the vehicle with motorized wheels.