Steering Strategy for a Multi-Axle Wheeled Vehicles

Abstract

This paper presents a mathematical model for multi-axle steering vehicles operating on level ground. For transporting heavy loads vehicles with multiple axles are required. Apart from added complexity steering of multiple axle for turning is a big challenge. Due to type of load being carried a single unit vehicle is sometimes preferred. The mathematical model of a six axle vehicle with 4-axle steering system is developed. Simulations at various track radii, vehicle speeds and steering ratios (ratio between the first, second, fifth and sixth steering axle) are performed. Axle steering angles and wheel slip angles are evaluated. The steering ratio requirements vary with vehicle speed and turn radius. A configuration is selected for better performance for a wider range. The resulting steering ratios show good vehicle maneuverability, stability and steering efficiency.