Turning characteristic study of multi-axle compound steering vehicle

The larger and longer body of multi-axle vehicle makes it difficult to steer as flexibly as usual. For this reason, a novel steering mode which combines traditional Ackerman steering and Skid steering method is proposed and the resulted turning characteristics is studied in this research. First, the research methods are identified by means of building and analysing a vehicle dynamical model. Then, the influence of rear-wheels´ assisted steering on vehicle yaw rate, turning radius and wheel side-slip angle is analysed by solving a linear simplified model. An executive strategy of an additional yaw moment produced by rear-wheels during the vehicle steering at a relative lower speed is put forward. And a torque distribution method of rear-wheels is given. Finally, a comparison with all-wheel steering vehicles is made. It turned out that this steering mode can effectively decrease the turning radius or increase mobility and have an advantage over all-wheel steering.