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1、Turningcharacteristicsofmulti-axlevehiclesAbstract：Thispaperpresentsamathematicalmodelformulti-axlevehiclesoperatingonlevelground.Consideringpossiblefactorsrelatedtoturningmotionsuchasvehicleconfigurationandtireslipvelocities,equationsofmotionwerecon
2、structedtopredictsteerabilityanddrivingdecencyofsuchvehicles.Turningradius,slipangleatthemasscenter,andeachwheelvelocitywereobtainedbynumericallysolvingtheequationswithsteeringanglesandaveragewheelvelocityasnumericalinputs.Toelucidatetheturningcharac
3、teristicsfaulty-axlevehicles,theejectoffundamentalparameterssuchasvehiclespeed,steeringanglesandtypeofdrivingsystemwereexaminedforasampleofmulti-axlevehicles.Additionally,fieldtestsusingfull-scalevehicleswerecarriedouttoevaluatethebasicturningchar-at
4、aracticsonlevelground.Keywords:Multi-axlevehicles;Turningmaneuverability;Mathematicalmodel1.IntroductionTracklayingrunninggearhasbeenmainlyusedinthefieldsofmilitaryandconstructionforheavyvehicleapplications.Recently,runninggearwithpneumatictireshasbe
5、enexpandingtoheavyvehiclesinsuchfields,sincetireequippedvehiclesexcelinspeed,silenceandenergye?-cogency.Severalpapershavebeenpublishedonthesubjectoftractabilityandmaneuverabilityofmulti-axlevehicles[1,2].Atheoreticalstudytoevaluatetheturningmotionofs
6、kidsteeringvehicleswasalsodevelopedbyRenoirandCravat[3].Morerecentarmyvehicles,suchastheMODIX,aredesignedtobeequippedwithindependentwheeldriveandsteering,andloadcontrolsuspensions[4].TheMODIXcanturnbynormalsteering,skidsteering,oramixtureofboth.Addit
7、ionally,theconversionfrommechanicaldrivetoanelectricdriveunitcontrolledbyeachin-hubmotorhasbeenexamined[5–7].Ahybridwheelsteersystemisbeingdevelopedtocomplementtheindependentdrivecapabilityofthein-hubwheelmotors.However,therehasnotbeenapaperortechnic
8、alpublicationdealingwiththesubjectcomprehensivelyandinalogicalsequencebecausethephenomenonofdynamicmotionsofthemulti-axlevehicleiscomplex.Thispaperdescribesacomputersimulationmodeltopredictturningcharacteristicsofmulti-axlevehicles.Theequationsofmoti
