Abstract
Mechanized forces of armies world over tend to use multi-axle vehicles for their versatile capability of deployment on-road and off-road operations. Manoeuverability on-road requires good high-speed control defined by handling characteristics and manoeuverability off-road required ability to overcome hairpin bends; this requires smaller turning circle radius. Studies pertaining to the selection of appropriate steering strategy are very limited. One of the approaches is utilizing a bicycle model of the vehicle. Bicycle model assumes the same magnitude for angle of left and right wheels; this holds good for large turning radii. Further to this, all steering strategies are evolved and those apt for practical implementation are considered in study. A worldwide survey of vehicles of similar class was also carried out. Four strategies were found after this exercise: first axle steer, first two-axle steer, first and last axle steer and all axle steer. An combined nonlinear ride and handling model developed using Simulink is used for carrying out the study. Physical parameters considered are lateral acceleration, yaw angle and vehicle side slip angle. If forward speed of the vehicle is assumed constant, higher magnitudes of lateral acceleration and yaw angle indicate vehicle ability to take a sharp turn or in other words better manoeuverability. Side slip angle is the difference between vehicle axis and the wheel axis. Vehicle designers strive to achieve near zero side slip angle. Apart from steering, other inputs considered are drive torque and road undulations. Longitudinal vehicle dynamics is of little consequence to this study and hence, equal and constant drive torque to all wheels is applied. Road undulations are provided as an input to the model from smoothened power spectral density (PSD) hyperbolic curve. The road undulation is defined by ‘C’ and ‘N’ values from ISO: 8608. For rough runway, the values of C and N are 8.1 × 10−06 and 2.1, respectively. The simulations were carried out at various constant speeds, and results were obtained.
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Abbreviations
- F xi :
-
Longitudinal force generated by the tyre [N]
- F yi :
-
Lateral force generated by the tyre (N)
- M s :
-
Sprung mass (kg)
- m u :
-
Unsprung mass (kg)
- C 1 :
-
Cornering stiffness of tyres on first axle (N/rad)
- C 2 :
-
Cornering stiffness of tyres on second axle (N/rad)
- C 3 :
-
Cornering stiffness of tyres on third axle (N/rad)
- C 4 :
-
Cornering stiffness of tyres on fourth axle (N/rad)
- \( C_{\alpha } \) :
-
Nominal cornering stiffness (N/rad)
- \( C_{s} \) :
-
Longitudinal stiffness of tyres on all tyres (N/slip)
- \( C_{yl} \) :
-
Lateral force lag coefficient
- \( I_{x} \) :
-
Mass moment of inertia, X-axis (kg m2)
- \( I_{y} \) :
-
Mass moment of inertia, Y-axis (kg m2)
- \( I_{z} \) :
-
Mass moment of inertia, Z-axis (kg m2)
- \( I_{wi} \) :
-
Moment of inertia for all wheels (kg m2)
- \( V_{x} \) :
-
Vehicle speed (m/s2)
- \( T_{i} \) :
-
Input torque on each wheel (N m)
- \( R_{i} \) :
-
Rolling resistance coefficient (N m)
- \( B_{s} \) :
-
Damping coefficient of suspension (N s/m)
- \( l_{1} \) :
-
Distance from centre of gravity to first axle(m)
- \( l_{2} \) :
-
Distance from centre of gravity to second axle (m)
- \( l_{3} \) :
-
Distance from centre of gravity to third axle (m)
- \( l_{4} \) :
-
Distance from centre of gravity to fourth axle (m)
- \( S_{i} \) :
-
Longitudinal slip for each tyre
- \( \varepsilon_{r} \) :
-
Road adhesion reduction factor (s/m)
- \( k_{s} \) :
-
Spring stiffness (N/m)
- \( F_{x} \) :
-
Force in longitudinal direction (N)
- \( F_{y} \) :
-
Force in lateral direction (N)
- \( F_{z} \) :
-
Force in vertical direction (N)
- \( M_{x} \) :
-
Rolling moment (N/m)
- \( M_{y} \) :
-
Pitching moment (N/m)
- \( M_{z} \) :
-
Yaw moment (N/m)
- \( k_{t} \) :
-
Tyre stiffness (N/m)
- \( k_{r} \) :
-
Rollbar stiffness (N/m)
- \( R_{w} \) :
-
Wheel radius (m)
- \( \mu \) :
-
Friction coefficient
- t :
-
Track (m)
- \( \alpha_{i} \) :
-
Slip angle
- r :
-
Yaw velocity
- \( \beta \) :
-
Sideslip angle
- \( \delta_{i} \) :
-
Steer angle
- \( \theta \) :
-
Pitch angle
- \( \emptyset \) :
-
Roll angle
- \( \varphi \) :
-
Yaw angle
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Jagirdar, V.V., Maskar, V.P., Trikande, M.W. (2019). Comparative Evaluation of Steering Configurations for a 6 × 6 Wheeled Armoured Vehicle. In: Badodkar, D., Dwarakanath, T. (eds) Machines, Mechanism and Robotics. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-10-8597-0_31
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DOI: https://doi.org/10.1007/978-981-10-8597-0_31
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