Dynamics of four-wheel-steering vehicles

Spentzas, KN; Alkhazali, I; Demic, M

dc.contributor.author	Spentzas, KN	en
dc.contributor.author	Alkhazali, I	en
dc.contributor.author	Demic, M	en
dc.date.accessioned	2014-03-01T01:16:26Z
dc.date.available	2014-03-01T01:16:26Z
dc.date.issued	2001	en
dc.identifier.issn	0015-7899	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14050
dc.subject	Degree of Freedom	en
dc.subject	linear functionals	en
dc.subject	Non-linear Dynamics	en
dc.subject	Centre of Gravity	en
dc.subject	Front Steering	en
dc.subject.classification	Engineering, Multidisciplinary	en
dc.subject.classification	Engineering, Mechanical	en
dc.subject.other	Algorithms	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	Mathematical models	en
dc.subject.other	Optimization	en
dc.subject.other	Steering	en
dc.subject.other	Reaction forces	en
dc.subject.other	Vehicles	en
dc.title	Dynamics of four-wheel-steering vehicles	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/s100100100061	en
heal.identifier.secondary	http://dx.doi.org/10.1007/s100100100061	en
heal.language	English	en
heal.publicationDate	2001	en
heal.abstract	In this paper we present an optimised 3 degrees-of-freedom non-linear dynamic model of a four-wheel-steering (4WS) vehicle. As variables, we retain the lateral velocity V, the rolling velocity p and yaw velocity r. The front steer angle delta (f) and rear steer angle delta (r) are considered to be linear functions of the steering wheel angle theta (s) and of d theta (s)/dt, the proportionality parameters being k(1f), k(2f) for delta (f) and k(1r), k(2r) for delta (r). The parameters k(1f), k(2f), k(1r), k(2r) are optimised by use of the BOX mathematical algorithm. In a first optimisation loop we minimise the sideslip angle beta of the vehicle and in a second optimisation loop we assure, that the resultant (taken in the centre of gravity of the vehicle) of all the transversal forces F-y applied on the wheels of the vehicle (reaction forces contained in the road plane), give a component F-yx along the longitudinal axis of the vehicle, that takes a non negative value. This assures, that the motor of the vehicle will not waste fuel to overcome resistance forces originating from the steering system of the vehicle. A numerical application is also presented for a 4WS vehicle negotiating a curve at constant velocity. The results are compared to those obtained by two models frequently used in the literature. The comparison testifies on the superiority of our model for the application presented here.	en
heal.publisher	SPRINGER-VERLAG BERLIN	en
heal.journalName	Forschung im Ingenieurwesen/Engineering Research	en
dc.identifier.doi	10.1007/s100100100061	en
dc.identifier.isi	ISI:000172350800004	en
dc.identifier.volume	66	en
dc.identifier.issue	6	en
dc.identifier.spage	260	en
dc.identifier.epage	266	en