Modeling, Control Strategy And Simulation For Multi-axis Steering Technology

The driving ability of specialized heavy vehicles is limited in fields like height and width because of its massive mass, huge moment of inertia, high center of mass and too many axles. Multi-steering axle technology can improve its steering flexibility, reduce steering radius under the low speed and optimize handling stability and safety under middle or high speed.The main focus of multi-steering technology research is paid to the steering angle control strategy. If steering angle of each wheel on each axle cannot steer reasonably, it will result in serious tyre wear and the steering ability of a vehicle will reduce sharply.This paper is based on mathematical modeling of automobile dynamic, introduced the universal 2 DOF mathematical model for multi-steering vehicle, and compared the steering ability between traditional steering system and multi-steering system. Applied zero-side-slip-angle control strategy to multi-steering system in order to achieve a reasonable handling stability.Designed fuzzy PID control strategy to optimize the steering angle control method based on zero-side-slip-angle. Utilized fuzzy toolbox to simulate the steering system under the input of step signal.Set up six-steering-axle model and zero-side-slip-angle control method model in Matlab/Simulink software, and simulated the mathematical model and control strategy. Using AMESim software to build up steering actuator model, and co-simulate with Matlab/Simulink to judge the control strategy.