In this paper an optimised 3 degrees-of-freedom non-linear dynamic model of a four-wheel-steering (4WS) vehicle is presented. As variables, the authors retain the lateral velocity V, the rolling velocity p and yaw velocity r. The front steer angle deltaf and rear steer angle deltar are considered to be linear functions of the steering wheel angle theta, and of dthetas/dt, the proportionality parameters being k1f, k2f for deltaf and k1r, k2r for deltar. The parameters k1f, k2f, k1r, k2r are optimised by use of the BOX mathematical algorithm. In a first optimisation loop the sideslip angle beta of the vehicle is minimized and a second optimisation loop assures, that the resultant (taken in the centre of gravity of the vehicle) of all the transversal forces Fy applied on the wheels of the vehicle (reaction forces contained in the road plane), give a component Fyx along the longitudinal axis of the vehicle, that takes a non negative value. This assures, that the motor of the vehicle will not waste fuel to overcome resistance forces originating from the steering system of the vehicle. A numerical application is also presented for a 4WS vehicle negotiating a curve at constant velocity. The results are compared to those obtained by two models frequently used in the literature. The comparison testifies on the superiority of our model for the application presented here.


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    Title :

    Dynamics of four-wheel-steering vehicles


    Additional title:

    Dynamic der vierradgelenkten Fahrzeuge


    Contributors:
    Spentzas, K.N. (author) / Alkhazali, I. (author) / Demic, M. (author)


    Publication date :

    2001


    Size :

    7 Seiten, 5 Bilder, 14 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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