Title: Multi-axle vehicle dynamics with roll

Authors: Daniel E. Williams

Addresses: ZF Friedrichshafen AG, 800 Heath St., Lafayette, IN 47904, USA

Abstract: The classic two-axle yaw-plane or bicycle model has historically provided basic insight into vehicle handling. It has previously been augmented with suspension effects to allow sprung mass roll, and separately more recently to accommodate multiple axles, any of which could be steering. In this work these two extensions of the yaw-plane model are combined, to form a dynamic model of a vehicle with an arbitrary number of axles, any of which could be steered, and also with a suspension that allows sprung mass roll. Convention and nomenclature are introduced to allow compact expression. As such this work introduces the most general dynamic yaw-plane model to date.

Keywords: vehicle dynamics; commercial vehicle dynamics; multi-axle vehicle dynamics; multi-axle steering; vehicle ride; vehicle handling.

DOI: 10.1504/IJHVS.2019.101479

International Journal of Heavy Vehicle Systems, 2019 Vol.26 No.3/4, pp.535 - 550

Received: 27 Apr 2017
Accepted: 12 Dec 2017
Published online: 11 Aug 2019 *

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