Model And Fuzzy Control Axle All Terrain Crane Turned Nine

Due to longer body length, larger tonnage, much more axle, heavier weightand other characteristics, nine-axle all-terrain-crane has higher requirement tosteering performance. The research of multi-axle steering technology ofall-terrain-crane is still in its initial stage in domestic, and the core sensitivetechnology can’t be obtained because it is protected by the foreign companies.So the research on nine-axle steering technology of all-terrain-crane hasimportant theoretical significance and engineering significance.The studies on multi-axle steering technology both at home and abroad arebetween three axles and seven axles. This paper takes a company’s nine-axleall-terrain-crane steering system as the research object, analysis the dynamicsteering angle and study the control of all-terrain-cranes in this paper.Firstly, the two-freedom mathematical model of nine-axle steering systemof vehicle was established. The formulas of steering angle and turning radius ofeach steering wheel were derived under the condition of pure rolling. Theminimum-turning-radius of nine-axle vehicle within the allowed tolerances wereoptimized.Secondly, the relationship of wheel base, wheel track and turning deflectionangle were studied. Several typical steering models of nine-axle all-terrain-cranewere analyzed. Taken into consideration of active control strategy of rear axlesteering angle, rotation angles formula of inside and outside wheels were derived.Using numerical simulation method to visually simulate, and verifies thevalidity of the formula, the paper analyses the time-domain response andstability of the nine-axle vehicle in dynamic steering. The result shows that thenine-axle steering system can meet multi-axle vehicle requirements of securityand stability under different speeds.Finally, the fuzzy controller of all-terrain-crane nine-axle steering systemwas designed in all-wheel steering mode. The simulation result shows thatnine-axle vehicle under the control of fuzzy control method has better travelingcapability in corner at low speeds and steering stability at high speed.