Six-wheeled vehicle steering
2005 (English)In: Proceedings of the 15th International Conference of the ISTVS, 2005Conference paper (Refereed)
Six-wheeled vehicles provide the ability to get high performance both on- and off-road. Ackermannsteering on six-wheeled vehicles is possible to achieve in several ways by steering on differentpair of wheels. The steering system has several contradicting demands such as volume saving wheelhouses, few actuators, small turning radius and fast lateral acceleration response. Some of the demandsare velocity dependent. Fast lateral acceleration response is important at high velocity, while a low turningradius is desired at low velocity. In this paper three different steering methods are considered: (a)steering on front and rear wheels, (b) steering on front and middle wheels and (c) steering only on thefront wheels. The steering methods are evaluated by simulating J-turn maneuvers in Matlab/Simulink andAdams. Considering turning radius, lateral acceleration and yaw rate it is shown that method (a) is best atlow speed, while method (b) gives the best stability at high speeds and method (c) uses few actuators andhas acceptable performance at high velocities. A drawback with method (c) is that the vehicle becomesmore sensitive to the load distribution, i.e. braking, accelerating and moving the load will affect steeringcharacteristics more for method (c) than for the other methods. A steering method using method (a) atlow speeds with a gradually transition to method (c) as the velocity increases is suggested.
Place, publisher, year, edition, pages
Six-wheeled vehicles, steering, modeling, simulation, lateral acceleration, stability
IdentifiersURN: urn:nbn:se:kth:diva-6845OAI: oai:DiVA.org:kth-6845DiVA: diva2:11667
Proceedings of the 15th International Conference of the ISTVS. Hayama, Japan September 25–29, 2005
QC 201010262007-03-012007-03-012010-10-26Bibliographically approved