Abstract: Because there are several axles in multi-axle vehicle, and steering controlling is very complex, it is proposed to use the front wheel steering angle and the distance D between turning center and first axle as input controlling variables, and based on Ackerman theory to realize all wheels steering. This control strategy can make all wheels turn around the same instant center in a circular motion, and realize several steering mode by changing D values. Based on this, a five-axle vehicle model was built with ADAMS software, and the control strategy was built with Simulink software. The steering angle step response simulation with different D value and different speed was processed. It was found that the yaw angle rate of multi-axle became smaller with in-phase steering mode and handling and stability was improved. While turning in in-phase mode, D value has a greater impact on the handling and stability, and the safety and sensitivity of steering can be improved with appropriate D value.

Key words: multi-axle, in-phase steering, whole wheel steering, angle step input response