Articulated tracked vehicles (ATVs) exhibit enhanced steerability but reduced yaw stability. Apart from the track-terrain contact, the dynamics of the articulated frame steering (AFS) system strongly influences the stability of ATVs. We developed a detailed hydraulic steering system and a yaw-plane ATVs model for vehicle stability research. The transient characteristic of track-ground contact was considered. The multibody dynamics model by Recurdyn/Track software was compared with the established model to verify the model correctness at time-domain and frequency-domain. The result suggests that the vehicle yaw stability can be evaluated in terms of the oscillation frequency, damping ratio, overshoot, and steady-state deviation of articulation angle response. A multi-objective optimization is proposed to obtain the optimized structural parameters of AFS system by employing response surface method (RSM) and non-dominated sorting genetic algorithm II (NSGA-II). The optimal solutions revealed that more compact mechanism design of AFS system contributes to a compromise stability performance with 4.44 % decrease in the oscillation frequency and 10.3 % decrease in the damping ratio.

铰接式履带车辆（ATV）表现出增强的操纵性，但降低了偏航稳定性。除了履带与地面的接触之外，铰接式车架转向（AFS）系统的动力还强烈影响着ATV的稳定性。我们为车辆稳定性研究开发了详细的液压转向系统和偏航平面全地形车模型。考虑了轨道-地面接触的瞬态特性。将Recurdyn / Track软件的多体动力学模型与已建立的模型进行比较，以验证该模型在时域和频域上的正确性。结果表明，可以根据振荡频率，阻尼比，过冲和关节角响应的稳态偏差来评估车辆的横摆稳定性。提出了一种多目标优化方法，采用响应面法（RSM）和非支配排序遗传算法II（NSGA-II）来获得AFS系统的优化结构参数。最佳解决方案表明，AFS系统的更紧凑的机构设计对折衷的稳定性能做出了贡献，振荡频率降低了4.44％，阻尼比降低了10.3％。