Co-simulation analysis of zero radius steering characteristics of articulated vehicle with six motor-driven wheels

The utilization of motor-in-wheel in the articulated vehicle is a very important research trend. It has high transmission efficiency and flexible space layout. However, it has complicated behavior for its unique structure. Based on co-simulation technology, kinematics and dynamic characteristics of zero radius steering of articulated vehicle are investigated in this paper. The rotary valve hydraulic power steering system is modeled in Amesim, and the virtual prototype of articulated vehicle is built in ADAMS. The acting force of hydraulic steering cylinder is achieved by synchronous communication between the Amesim and ADAMS software. The accurate articulated angle between the front and rear body is measured, and the lateral forces and longitudinal forces of each wheel are presented while the articulated vehicle in the steering process. The simulation results show that the middle two wheels of articulated vehicle with 3-axle, 6-wheel have different behaviors. The steering behavior of the articulated vehicle can be presented and analyzed precisely. It is helpful for drawing up the control strategy of the articulated vehicle with motor-driven wheels.