Abstract:

A four degrees of freedom multiaxle vehicle steering model was established. Analysed timedomain and frequency domain characteristics of multiaxle vehicle steering performance based on front wheel steering control strategy, zero lateral angle control strategy and yaw rate tracking optimal control strategy. The results of the analysis indicate that in the case of zero lateral angle control strategy and yaw rate tracking optimal control strategy, the vehicle yaw rate, side angle, rolling angle and pitching angle are smaller than that in the case of the front wheel steering control strategy, and the system response fast for yaw rate and lateral angle, indicating the flexibility to be able to turn better; and they response lag for rolling angle and pitching angle relative to the front wheel steering control strategy, indicating a better steering stability. The results of the analysis also shows that the steering performance of yaw rate tracking optimal control strategy is better than zero lateral angle control strategy.

Key words: mechanical kinetics, multi-axle steering, zero sideslip angle proportional control, H₂/H_&infin, optimization control, kinetic model