Research on steady and transient characteristics of 4-axle vehicle handling

The 2 degrees of freedom linear dynamic model of 4-axle vehicle is built. The transfer functions from steering anglesd δ
_i
to the slip angle β and yaw rate γ are derived. Based on a dual- front-axle steering vehicle, the characteristic parameters, such as undamped natural circle frequency, decay factor, damping coefficient and damped natural circle frequency are calculated. The step steering input at different longitudinal velocity and swept-sine steering input at different frequency simulations are done to research the steady and transient handling characteristics.