A Modelling Method for All-axle Steered Multi-articulated Vehicles

For a complex system like a multi-articulated all-axle steering vehicle, an accurate and physically meaningful dynamic model is crucial for analyzing vehicle characteristics and designing controllers. This paper proposes a dynamic modelling method for multi-articulated vehicles based on the principles of Lagrangian dynamics. This method effectively balances the complexity and precision of the model. Firstly, a set of clear symbol representations is constructed based on the actual physical meanings, standardising the modelling process. Secondly, nonlinear dynamic equations are constructed using Lagrange's equations, the principle of virtual work, and corresponding actuator models. Finally, through a series of transformations and simplifications, the vehicle dynamic model is obtained in matrix form. The model is validated by comparison with the model built under TruckMaker and collaborative simulation with controller.