Modeling of the curvilinear motion of a vehicle with all steer wheels

Developed simulation model of the curvilinear motion of the two-axial wheel carrier with all steer wheels. The model includes the motion of the wheel carrier’s center of mass with respect to the moving coordinate system, the matrix of the directional cosines for the transition from a moving to the fixed coordinate system, the bearing and running module for the determination of the reactions in the flat spot of the wheel tire with the bearing surface area, and the mechanism for turning steer wheels. The aim is to study vehicle steerability and dexterity of the two-axial wheel carrier with all steer wheels via modeling in the MATLAB Simulink. Parameters obtained show the application effectiveness of the steering control with all steer wheels for the two-axial wheel carrier. Results obtained can be applied to the constructional design of a vehicles for the determination of the optimal parameters of a steering configuration. Developed simulation model of the vehicle can become a basis for the modeling of vehicles’ motion equipped with the control system of the air pressure in tires, track-type module, adaptive undercarriages with the robotic operating system, etc.