Research on Steering Control of Multi-Axle Steering Heavy Commercial Vehicle Based on Reducing Tire Wear
To be published on April 2, 2019 by SAE International in United States
Multi-axle steering is widely used in military and civilian markets such as all-terrain cranes, military special vehicles, and articulated heavy commercial vehicles because of its small turning radius, high flexibility, strong maneuverability and strong off-road performance. However, due to the high loading quality of the multi-axle steering heavy commercial vehicles, the uncoordinated steering of wheels of each axle, the easy lateral deviation of the tail trailers, frequent change of the articulation angle, the long transportation time, the long transportation distance, the harsh working environment and the rough road, tire wear is also an important problem. This paper mainly focuses on the modeling of TruckSim and Matlab/Simulink; Research on multi-axle steering angular distribution based on reasonable distribution of tire force ensures that driving path of the vehicle is constant, so that the tire force (longitudinal force 2 + lateral force 2) of each wheel is basically balanced; Ensuring that the lateral acceleration does not change much during the steering process, taking into account the comfort; Research on the estimation of vehicle state based on Kalman filter algorithm predicts the position and relative relationship (Achieved mainly by predicting and updating the articulation angle) between the trailer and the tractor more accurately. The multi-axle steering control strategy based on Kalman filter is established to make the trailer trajectory accurately follow the tractor trajectory and reduce the tire wear and improve economy. Finally, the expected working condition verification and the expected conclusions are given.