A theoretical study of the yaw/roll motions of a multiple steering articulated vehicle

The objective of this paper is to present a theoretical analysis of the yaw/roll motion for an actively mufti-axle steering articulated vehicle. The roll instability of articulated vehicles is one of the most serious problems for the vehicle's occupants. Therefore, it is necessary to develop both yaw and roll responses in a more comprehensive model to obtain an accurate result. In this study, a five-degree-of-freedom articulated vehicle with multiple steering mathematical model and the basic analytical results of the yaw/roll performance characteristics are presented. The use of an additional steering axle on the towed unit is shown to increase the directional stability, to reduce the roll angle and to minimize the lateral force during steady turning. Moreover, the effect of roll steer about the lateral force in steady state turning, lane change simulation and the influence of roll steer coefficients and location of the additional steer axle on critical speed are also discussed and illustrated. This study does not address the feasibility of implementing these systems or limiting of the driver using these systems.