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<p>The shimmy mechanism in fuel-powered and conventional electric vehicles has been extensively studied. However, research on shimmy in in-wheel motor-driven electric vehicles (EV-DIMs) remains limited. To address this issue, this paper develops a seven-degree-of-freedom (7DOF) shimmy dynamic model of the electric wheel and derives the motion equations using Lagrange’s equations. The stability of the shimmy system is analyzed via Hopf bifurcation theory, and critical velocities are calculated. Various Parameter influences on shimmy characteristics are systematically examined. Furtherly, the Sobol sensitivity analysis is carried out as a complementary technique for a more comprehensive understanding of system dynamics. To validate the model, hardware-in-the-loop (HIL) tests were conducted using a custom-designed shimmy test bench. Experimental results confirm that the proposed model captures the shimmy mechanism in practical applications. This study provides a theoretical basis for designing EV-DIMs to mitigate or eliminate shimmy and offers a dynamic model for developing active shimmy control strategies.</p>

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Study on Electric Wheel Shimmy Mechanism of Electric Vehicle Based on Seven Degree of Freedom Model

  • 期刊论文

  • 发表日期：

    2025年12月12日

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  • Yupeng Su,
  • Qinghua Meng,
  • Kai Chen

摘要

The shimmy mechanism in fuel-powered and conventional electric vehicles has been extensively studied. However, research on shimmy in in-wheel motor-driven electric vehicles (EV-DIMs) remains limited. To address this issue, this paper develops a seven-degree-of-freedom (7DOF) shimmy dynamic model of the electric wheel and derives the motion equations using Lagrange’s equations. The stability of the shimmy system is analyzed via Hopf bifurcation theory, and critical velocities are calculated. Various Parameter influences on shimmy characteristics are systematically examined. Furtherly, the Sobol sensitivity analysis is carried out as a complementary technique for a more comprehensive understanding of system dynamics. To validate the model, hardware-in-the-loop (HIL) tests were conducted using a custom-designed shimmy test bench. Experimental results confirm that the proposed model captures the shimmy mechanism in practical applications. This study provides a theoretical basis for designing EV-DIMs to mitigate or eliminate shimmy and offers a dynamic model for developing active shimmy control strategies.