Mathematical Model for Dynamic Performance Analysis of Multi-Wheel Vehicle

다수의 바퀴를 가진 차량의 동적 거동 해석의 수학적 모델

  • Kim, Joon-Young (Division of Maritime Equipment Engineering, Korea Maritime University)
  • 김준영 (한국해양대학교 조선기자재공학부)
  • Received : 2012.09.01
  • Accepted : 2012.11.30
  • Published : 2012.12.31


In this study, a simulation program is developed in order to investigate non steady-state cornering performance of 6WD/6WS special-purpose vehicles. 6WD vehicles are believed to have good performance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering performances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 18 DOF system which includes non-linear vehicle dynamics, tire models, and kinematic effects. Then the vehicle model is constructed into a simulation program using the MATLAB/SIMULINK so that input/output and vehicle parameters can be changed easily with the modulated approach. Cornering performance of the 6WS vehicle is analyzed for brake steering and pivoting, respectively. Simulation results show that cornering performance depends on the middle-wheel steering as well as front/rear wheel steering. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results demonstrate the advantage of 6WS vehicles with the proposed control law.