A Lateral Dynamic Model of an All Wheel Steered Bimodal Vehicle

초록

This paper is concerned with a dynamic model of a bimodal vehicle that is being developed by KRRI. The vehicle characterizes to have all wheel steering and independent drives on each wheel except for the front ones. As a first step to design a good automatic guidance controller for the vehicle, a nonlinear vehicle dynamic model has been formulated. Since the effect of independent drives on steering angles is not much, only 3 steering angles of 3 axles are considered as inputs for linearised lateral motion. Finally, the linearised dynamic model in state space form is derived.