Research on Assist-Steering Method for Distributed-Drive Articulated Heavy Vehicle Based on the Co-Simulation Model

The mathematic model and co-simulation model for distributed-drive articulated heavy vehicles (DAHVs) are developed along with the techniques for its satisfactory verification. The objectives of this paper are to introduce and verify the researches about the assist-steering method for DAHVs. The theory of this proposed assist-steering method in this paper distinguishes it from the traditional direct yaw moment control (DYC) method or assist-steering methods in the previous studies. Furthermore, the co-simulation model developed by MATLAB/Simulink, ADAMS, and AMESim is more reasonable than the traditional methods with simple virtual models, which can replace the real test vehicle for the verification of proposed assist-steering method. Field tests were conducted with a 35t DAHV to verify the models with the comparison of vehicle responses. With the reference of mathematical model, the feed-forward controller can be designed to calculate the appropriate differential driving forces and produce direct yaw moment to assist the vehicle in steering. A case study is implemented with the co-simulation model in the end. The investigation shows that this assist-steering method reduce the steering forces for about 41.2%, which can improve the working performance of DAHVs and realize the electrification of vehicle steering process.