Control strategy of the multi-axle distributed mechanic and electric drive vehicle's turning radius

With the increasing requirements from modern battlefield environment, the demands of multi-axle wheeled vehicles' minimum turning radial tactical and technical index are getting higher. A control system of minimum turning radius was presented which was fit for the multi-axle distributed mechanic and electric drive vehicle, and the vehicle control strategy under this mode was introduced detailed. When the vehicle turned with a big steering angle at a low speed, the last two axles produced torque, which could be described as “the outer one is plus and the inner one is minus”, to assist the vehicle to turn, and then decrease the minimum turning radius. At last, in order to validate the performance of system, a vehicle dynamic model with 11 degrees was built, which included the longitudinal speed, the lateral speed, the yaw rate and the rotation of eight wheels. The Gim tire mode was used to describe the tires' nonlinear mechanics features. The simulation result shows that the vehicle's minimum turning radius can be decreased 10.31% under the strategy, increasing its motility greatly.