Method for control of steering angles for articulated vehicles using virtual rigid axles

• Published in: International journal of automotive technology Vol. 10; no. 4; pp. 441 - 449
• Main Authors: Moon, K. -H., Lee, S. -H., Chang, S., Mok, J. -K., Park, T. -W.
• Format: Journal Article
• Language: English
• Published: Heidelberg The Korean Society of Automotive Engineers 01.08.2009; Springer Nature B.V; 한국자동차공학회
• Subjects: Algorithms; Automotive Engineering; Control algorithms; Engineering; Mechanical engineering; Methods; Studies; Vehicles; Wheels; 자동차공학; Articulated vehicle; All wheel steering; Virtual rigid axle
• ISSN: 1229-9138; 1976-3832
• DOI: 10.1007/s12239-009-0050-0

Many methods we have been developed to control the rear wheels of a vehicle, but most of them are designed for automobiles with four wheels. The AWS (all wheel steering) control method for articulated vehicles is currently applied only to Phileas vehicles developed by APTS, but the control algorithm for this system has yet to be reported. In the present paper, a new algorithm is proposed after the AWS ECU (electronic control unit) of the Phileas vehicle was tested and analyzed in order to understand the existing steering algorithm. The new algorithm considers the vehicle geometry, stability of handling, and safety, and can be easily applied to multi-axle vehicles. In order to verify the AWS algorithm, the trajectory and steering angles of each algorithm were compared using the commercial software ADAMS. Turning radius, swing-out, and swept path width were also investigated to determine the turning performance of the proposed algorithm.