In order to develop fieldwork car’s dynamic stability, a new control system for three-axle vehicle’s all-wheel steering is put forward. A nonlinear three degree of freedom (3-DOF) all-wheel steering model is built. The tire’s magic formula and the tire vertical load’s solving method based on displacement are applied to the model and the ideal yaw rate is given. Using feedforward and feedback control algorithm, a zero sideslip angle proportional feedforward and optimal feedback control system is designed. The system is simulated on MATLAB/Simulink platform and results show the vehicle’s dynamic stability is obviously developed.
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Hui et al. (2013) studied this question.
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