Research on reference model establishment method for articulated steering vehicle

A vehicle with an articulated steering system is widely used in engineering due to its mobility advantage. The mechanism of the articulated steering system is different from the Ackman steering system equipped in regular vehicles. For the vehicle dynamic control process, the reference model is a quite important part. Thus, it is necessary to determine the proper reference model establishment method to improve the dynamic characteristics of the articulated steering vehicle (ASV). The dual body model, equivalent skid and slip model, and a novel model establish method, recombination structure model are built and compared. To analyze the calculated yaw rate of different models, varies mass center on the front and rear vehicle parts are set. The yaw rate during the steady-steering condition is gained and compared to the result gained from the Simulink/Recurdyn platform. According to the comparison, the recombination model has the best model accuracy in all conditions, when the distance between the mass center is lower than the axle distance, the skid and slip model has good accuracy. The dual-parts model has a complex structure and the worst accuracy in all conditions. The conclusion summarized based on the comparison could provide a reference to the work relevant to the dynamic control of the ASV