多轴车辆的转向特性.docVIP

Turning characteristics of multi-axle vehicles Abstract：This paper presents a mathematical model for multi-axle vehicles operating on level ground. Considering possible factors related to turning motion such as vehicle configuration and tire slip velocities, equations of motion were constructed to predict steer ability and driving decency of such vehicles. Turning radius, slip angle at the mass center, and each wheel velocity were obtained by numerically solving the equations with steering angles and average wheel velocity as numerical inputs. To elucidate the turning characteristics faulty-axle vehicles, the eject of fundamental parameters such as vehicle speed, steering angles and type of driving system were examined for a sample of multi-axle vehicles. Additionally, field tests using full-scale vehicles were carried out to evaluate the basic turning char-ataractics on level ground. Keywords: Multi-axle vehicles; Turning maneuverability; Mathematical model 1. Introduction Track laying running gear has been mainly used in the fields of military and construction for heavy vehicle applications. Recently, running gear with pneumatic tires has been expanding to heavy vehicles in such fields, since tire equipped vehicles excel in speed, silence and energy e?-cogency. Several papers have been published on the subject of tractability and maneuverability of multi-axle vehicles [1,2]. A theoretical study to evaluate the turning motion of skid steering vehicles was also developed by Renoir and Cravat [3]. More recent army vehicles, such as the MODIX, are designed to be equipped with independent wheel drive and steering, and load control suspensions [4]. The MODIX can turn by normal steering, skid steering, or a mixture of both. Additionally, the conversion from mechanical drive to an electric drive unit controlled by each in-hub motor has been examined [5–7]. A hybrid wheel steer system is being developed to complement the independent drive capability of the in-hub wheel mo