Steering resistance characteristics of multi-axle in-wheel motor electric vehicle

To study the steering resistance characteristics of multi-axle electric vehicle, the dynamic model was established for three degree of freedom vehicle based on the effect of wheel load changes on tire cornering stiffness. The steering resistance computational method was proposed under steady steering condition, and the theoretical formulas of the tire side slip angle and steering resistance moment were derived. Based on this model, the relation of resistance moment with the steering input and vehicle velocity was analyzed as well as its theoretical constraint boundaries. The steering resistance moment of the wheeled vehicle was compared with that of the tracked vehicle under the equal mass and track length conditions. Furthermore, the influences of side slip angles on each tire force distribution were discussed and the computational results were validated using the ADAMS software. The results indicate that the resistance moment of multi-axle electric vehicle is more than that of the tracked vehicle with the same configurations, and the computational model can lay a theoretical basis of the steering control strategy.