| The rapid development of modern logistics and the needs of a variety of specialoperations made the heavy-duty vehicles forward to high-occupancy, multi-axles,high-power, high-speed, lightweight and professional transport direction. So agility andsteering stability on high speed of the heavy-duty vehicles becomes increasinglyimportant. Multi-axles turning technologies, particularly all-wheel steering technologyare an important means to improve the stability and mobility of heavy vehicles.Looking at the research of all-wheel steering of multi-axles vehicles at home, mosttook the two degrees of freedom vehicle model as the research object, considered lessfactors, so it is more idealistic. The paper built a multi-body-dynamics model with26degrees of freedom by means of the software ADAMS/View, making it closer to theactual situation. And combined it with MATLAB/Simulink to go on joint simulation,play their respective advantages. According to Ackerman Principle and Zero side-slipAngle proportional control strategy respectively, calculate the value of each wheel’ssteering angle to achieve all-wheel steering.The paper has also realized control all of the wheel drive moment independently bythe co-simulation between ADAMS/View and MATLAB/Simulink. Taking thecomparison value between actual speed and target speed of the vehicle as the input ofPID controller was to control the wheel drive moment to make the vehicle trackingtarget speed. Besides，it is can improve the much over-steer generated by Zero side-slipAngle proportional control strategy by use DYC. To achieve DYC control, first to getthe difference between left and right wheel drive moment through PID control thecomparison value between actual yaw rate and of ideal yaw rate of the vehicle, and thento increase and decrease left and right wheel drive moment respectively based on thedifference to generate additional yaw moment. This yaw moment can control thevehicle’s yaw movement to improving vehicle stability. |
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