中文摘要：

本文从三自由度的角度出发,根据牛顿力学定律建立多轴车辆转向模型及其状态空间动力学方程。并从实际使用的多种转向模式中取出常见的三种,运用MATLAB软件,对此三种转向模式进行时域仿真分析。结果表明,全轮转向模式P1的综合操纵稳定性能优于另外两种。而且本文所采用的方法为研究多轴转向车辆的转向稳定性具有借鉴意义。

英文摘要：

From the viewpoint of three degree of freedom, the multi-axle vehicle steering model and the state space dynamic equations are established according to the Newtonian mechanics law. Three common modes were taken from the actual use of a variety of steering mode, and MATLAB software was used to execute the time domain re-sponse simulation and comparative analysis. The results show that the all-wheel steering PI is better than the other two. and it is significant to study the steering stability of multi-axle steering vehicle.