主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2026, Vol. 51 ›› Issue (19): 1-11.DOI: 10.16638/j.cnki.1671-7988.2026.019.001

• 智能底盘集成控制技术 •    

轮式特种车辆分布式多轮转向系统优化设计 与稳定性控制

袁佳 1,2，张凯迪 2，张云清 2*，谭坤 1，钟科 1   

  1. 1.重庆铁马工业集团有限公司；2.华中科技大学 机械科学与工程学院
  • 发布日期:2026-10-08
  • 通讯作者: 张云清
  • 作者简介:作者简介：袁佳（1987－），男，硕士，高级工程师，研究方向为特种车辆底盘设计； 通信作者：张云清（1968－），男，博士，教授，研究方向为车辆系统动力学与控制
  • 基金资助:
    国家自然科学基金项目（12272141）

Optimal design and stability control of distributed multi-wheel steering system for wheeled special vehicles

YUAN Jia1,2 , ZHANG Kaidi2 , ZHANG Yunqing2* , TAN Kun1 , ZHONG Ke1   

  1. 1.Chongqing Tiema Industry Group Company Limited; 2.School of Mechanical Science and Engineering, Huazhong University of Science and Technology
  • Published:2026-10-08
  • Contact: ZHANG Yunqing

PDF

摘要： 为解决多轴大吨位轮式特种车辆在复杂工况下对机动性和操纵稳定性的特殊需求，文 章提出了一种基于改进型多冗余高集成角模块结构的分布式多轮转向系统，并以此开展横向 稳定性分层控制策略研究。首先建立了比例前馈全轮转向车辆动力学模型，通过不同车速下 角阶跃转向响应的对比分析，表明所提出的分布式多轮转向系统可通过低速全轮转向和中高 速双前桥转向的工作模式实现行驶稳定性与转向灵敏性的协同考虑。在此基础上设计了一种 横向稳定性分层控制框架，上层综合反馈控制器基于模糊自适应比例-积分-微分（PID）算法 实现车辆附加横摆力矩的计算，下层力矩分配控制器以最小轮胎附着利用率为核心优化目标， 实现各车轮转矩的最优分配，同时结合纵向车速跟踪控制，构建完整的分层优化控制体系。 最后，基于 RecurDyn 与 MATLAB/Simulink 搭建联合仿真平台，进行不同控制策略下的对比 仿真验证。结果表明，所设计的分布式多轮转向系统在综合反馈分层优化策略控制下可有效 提升车辆操纵稳定性与行驶安全性。

关键词: 特种车辆；多轮转向；优化设计；稳定性控制

Abstract: To meet the special requirements for maneuverability and handling stability of multi-axle heavy-duty wheeled special vehicles under complex working conditions, this paper proposes a distributed multi-wheel steering system based on an improved multi-redundancy and highly integrated corner module structure, and further investigates the hierarchical control strategy for lateral stability on this basis. Firstly, a vehicle dynamic model with proportional feedforward allwheel steering is established. Through a comparative analysis of the angular step steering responses at different vehicle speeds, it is demonstrated that the proposed distributed multi-wheel steering system can achieve a synergistic balance between driving stability and steering responsiveness by operating in the all-wheel steering mode at low speeds and the dual-front-axle steering mode at medium and high speeds. On this basis, a hierarchical control framework for lateral stability is designed. The upper-layer comprehensive feedback controller calculates the additional yaw moment of the vehicle using a fuzzy adaptive proportional-integral-derivative (PID) algorithm. The lowerlayer torque distribution controller takes the minimum tire adhesion utilization rate as the core optimization objective to realize the optimal torque allocation of each wheel. Combined with the longitudinal vehicle speed tracking control, a complete hierarchical optimal control system is constructed. Finally, a co-simulation platform is established based on RecurDyn and MATLAB/ Simulink for comparative simulation verification under different control strategies. The results demonstrate that the distributed multi-wheel steering system designed in this paper can effectively improve the vehicle handling stability and driving safety under the control of the comprehensive feedback hierarchical optimization strategy.

Key words: special vehicle; multi-wheel steering; optimal design; stability control