中文摘要：

多轴转向技术正在向具有主动转向系统和转向杆系的双转向系统发展,但是,由于不同转向系统之间的耦合干涉,双转向系统存在轮胎磨损问题.为此,提出一种新的转向杆系优化方法——双极限目标优化法.根据后轴主动转向的控制策略和车速与车轮转角的关系,确定不同转角范围内的各轴双极限理论转角.通过对转向杆系的优化分析,实现不同速度和转角条件下,转向杆系的转向中心与后轴动态转向中心的协调一致,最大程度降低双转向系统的耦合干涉.针对九轴转向车辆,利用双极限目标优化法对其转向杆系进行优化分析.通过与固定转向中心的优化结果对比发现：双极限目标优化法的最大转角偏差降低30.9％～59.9％,从而验证新优化法的正确性和优点.此方法对双转向系统转向杆系的优化具有重要的指导意义.

英文摘要：

Dual steering systems with active steering systems and steering linkage are the development trend of multi-axle steering technology.Because of the interaction between different steering systems,tire wear exists in dual steering systems.For this reason,a new optimization method for steering linkage,i.e.,dual limit objective optimization method,is proposed.According to the control strategy for active steering for rear axles and the relationship between vehicle velocities and wheel steering angles,the dual limit theoretical steering angles of each axle are determined within different range of wheel steering angles.By optimization analysis of steering linkage,the front steering center can be kept to coordinate with the rear steering center and the interaction between dual steering systems will be reduced to the maximum under different vehicle velocities and wheel steering angles.The above method has been used to optimize the steering linkage of 9-axle steering vehicles.By comparing the optimization results from the above method with that for the fixed steering center,the maximum deviation of wheel angles by the former was reduced by 30.9％-59.9％ and the correctness and advantage of the new method has been verified.The new method is very important for guiding optimization of steering linkage of dual steering systems.