Title: Control studies of steering characteristics of commercial three-axle vehicle for front and rear wheels steering

Authors: Q.Z. Qu, Y.Z. Liu, J.W. Zhang

Addresses: Department of Engineering Mechanics, Shanghai Jiaotong University, Shanghai 200030, PR China. Department of Engineering Mechanics, Shanghai Jiaotong University, Shanghai 200030, PR China. Department of Engineering Mechanics, Shanghai Jiaotong University, Shanghai 200030, PR China

Abstract: The mechanical model of a three-axle vehicle for front and rear wheels steering is established. The transfer functions of yaw rate, sideslip angle and lateral acceleration to front and rear wheel angles are derived under different feed-forward and feedback control strategies. The control laws are discussed in order to make the sideslip angle of steady state and transient state keep to zero during vehicle steering. Simulation results show that the yaw rate and lateral acceleration response characteristics of the steering wheel angle of a three-axle vehicle are satisfactory when the body sideslip angle in the transient state is controlled at zero. Based on the control strategy and control target for a three-axle vehicle the manoeuverability at low-speed and lateral stability at high-speed are improved. The relationship between manoeuverability and stability is good as expressed by the manoeuverability factor and stability factor when introduced.

Keywords: three-axle vehicle; rear wheel steering; transfer function; control model; sideslip; steering characteristics.

DOI: 10.1504/IJVD.2001.001941

International Journal of Vehicle Design, 2001 Vol.26 No.2/3, pp.239-248

Published online: 15 Aug 2003 *

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