Simulation Analysis And Experimental Verification Of Full Wheel Steering For Multi-Axis Vehicle

The multi-axis steering technology can improve the maneuverability of vehicles in low-speed steering,and significantly improve its stability in high-speed steering. But compare with foreign multi-axis steering technology, we are still at the beginning in the domestic. Now most studies have focused on improving the vehicle stability with high speed, not to the further study on the special case of big steering angle in extremely low speed. In addition, the theoretical study of verification only stay in theory simulation and no real experiment verification also restricted the development of the technology.For above, we took three axis car for example to study the steering of big angle in extremely low speed, and made three-axis test prototype model in order to realize the function and test various control strategy,which made up the deficiency of the simulation results. Specific research content are as follows:(1) According to the general steering case,we built two degrees of freedom model and differential equation deduced, last we took simulation analysis verification. With the steering of big angle in extremely low speed,we put forward minimum turning radius as control strategy, and last took the simulation analysis test.(2) To complete the real car experiment for the purpose, modified model car for three axis of the prototype to experiment. according to the theory, choose different agencies and finally made a three-axis steering model car.(3) The modularization design of the control circuit to achieve the function of choice of chips, and finally to produce the control circuit board. Modular programming, the software section, select the appropriate function statement to the preparation of related procedures and control to the control strategy into procedures for the call.(4) With the car experiment the theory study, first used the model car’s dynamic parameters took the simulation analysis, and then verified experiment different control strategies under various conditions. Finally, contrasted the flexibility of the car under the control of the minimum turning radius control and zero-centroid slip angle which under the the conditions of big steering angle in extremely low-speed, final verification of the theoretical study is feasible.Concluded by theoretical simulation and experimental verification:big steering angle in the extremely low speed, with a minimum turning radius for the control objectives of the control strategy can effectively improve the mobility and flexibility of the multi-axis steering the vehicle. In addition, the experiment proved that the multi-axis steering to the experimental model of car to complete the experiment, the theoretical research has played a very good supplement.