Abstract
The dynamics performance of the articulated steer vehicle is investigated in this paper. This six-wheel drive hybrid articulated vehicle is believed to have good performance because these six motorized wheels can be controlled independently. The hybrid vehicle is modeled as multi-body system that considers the nonlinear vehicle dynamics, tyre models. The transient response of the vehicle, such as yaw angle, tire lateral force and the torques at the wheel are simulated. The effects of the torsional stiffness, the position of center mass on the behavior of vehicle are presented. The simulation results show that the vehicle can be adaptive to the different working conditions by controlling the driving motor torque.
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