Analysis and Simulation of Handling Stability for Three-Axle Vehicle with All Wheel Steering

The 2DOF model and differential equation of a three-axle vehicle with all wheel steering were built and analyzed. The yaw velocity gains of the vehicle and the relationship among the steering center position,the 2th and 3rd axle steering angle ratio and vehicle's speed are analyzed based on the zero side-slip proportional control strategy of mass center. The three-axle vehicle's dynamic simulation model was built,based on the model,the transient response of 2WS vehicle and 6WS vehicle were simulated under the different speed. The recorded simulation data and curve demonstrated that the zero side-slip angle proportional control strategy of mass center take advantage to improve the three-axle vehicle's mobility at low speed and handling stability at high speed.