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Shock and Vibration
Volume 2015 (2015), Article ID 839801, 20 pages
Research Article

Hopf Bifurcation Characteristics of Dual-Front Axle Self-Excited Shimmy System for Heavy Truck considering Dry Friction

1School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009, China
2China Anhui Jianghuai Automobile Co., Ltd., Hefei 230022, China

Received 19 April 2015; Accepted 13 August 2015

Academic Editor: Marcello Vanali

Copyright © 2015 Daogao Wei et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Multiaxle steering is widely used in commercial vehicles. However, the mechanism of the self-excited shimmy produced by the multiaxle steering system is not clear until now. This study takes a dual-front axle heavy truck as sample vehicle and considers the influences of mid-shift transmission and dry friction to develop a 9 DOF dynamics model based on Lagrange’s equation. Based on the Hopf bifurcation theorem and center manifold theory, the study shows that dual-front axle shimmy is a self-excited vibration produced from Hopf bifurcation. The numerical method is adopted to determine how the size of dry friction torque influences the Hopf bifurcation characteristics of the system and to analyze the speed range of limit cycles and numerical characteristics of the shimmy system. The consistency of results of the qualitative and numerical methods shows that qualitative methods can predict the bifurcation characteristics of shimmy systems. The influences of the main system parameters on the shimmy system are also discussed. Improving the steering transition rod stiffness and dry friction torque and selecting a smaller pneumatic trail and caster angle can reduce the self-excited shimmy, reduce tire wear, and improve the driving stability of vehicles.