Research on the Steering Stability of Autonomous Straddle Carrier

Aiming at studying the relationship between steering radius and the corresponding maximum speed of straddle carrier under the steering process, a research of the steering stability is conducted in this paper. First, a stability criterion is proposed to protect the straddle carrier from rolling over in the steering process. Next, the dynamic equations of the vehicle body system are established and the change of the body rolling angle is achieved. A method is proposed to determine the critical speed of rollover under a given steering radius. Finally a simulation using Adams is performed and the accuracy of the proposed method is verified. The study provides the theoretical basis for steering stability control of autonomous straddle carrier.