Introduction: a widespread approach to the transportation of large-sized and heavy-weight indi-visible cargo on roads and terrain is the use of multi-axle wheeled transport complexes, which are road trains. At the same time, due to the significant overall dimensions, one of the most important properties of such machines is agility, that is, the ability to move along a trajectory of large curvature in a limited area, which is especially important in loading / unloading zones. Subject of research: the article presents an approach to predicting the indicators of curvilinear movement of multi-axle wheeled road trains, based on the application of the method of mathemati-cal modeling of the dynamics of body systems. Methodology and methods: the essence of the method is to create a mathematical model of the movement of a road train, represented by a system of rigid bodies, which are interconnected by kin-ematic and power connections. The simulation model developed within the framework of the study makes it possible to take into account with high accuracy the peculiarities of the interaction of the wheel propeller with the supporting surface, the redistribution of normal reactions between the sup-port modules, as well as the force factors arising in the coupling device and ensuring the interaction between the tractive vehicle and the trailer link. The mathematical description of the interaction of the propeller with the ground is based on the concept of “friction ellipse”. Using the presented mod-el, an assessment of the turnability of a wheeled road train equipped with a trailed link with swivel and non-swivel wheels was carried out. The required width along the tracks of the outer (running in) and inner (lagging) wheels was used as an assessment criterion. To assess the feasibility of using a trailed link with fully steered wheels and, accordingly, complicating the design of the machine, an additional assessment of the required power of the steering drive was carried out. Results and scientific novelty: a mathematical model of the dynamics of a road train was de-veloped. It makes possible to predict with high accuracy the indicators of curvilinear movement of wheeled vehicles, as well as to estimate the required power of the steering drive. Practical significance: a mathematical model of road train movement was developed, which al-lows a wide range of tests to be carried out to assess not only the indicators of curved-linear move-ment, but also the mobility of wheeled vehicles of any configuration as a whole.
This article gives an estimate of power consumption at curves and the swept path width for a combination vehicle with steered and non-steered wheels of semi-trailer. Several options of power distribution between the combination vehicle sections are discussed.
One method to improve dynamic qualities, stability and cross-country ability of wheeled vehicles is to use Active Torque Transfer Systems (ATTS). An operating algorithm for the ATTS that ensures improved traction and dynamic properties, road-holding and trajectory stability of a two-axle wheeled vehicle has been suggested. Efficiency and feasibility of the suggested algorithm have been proved through simulation modeling. Lines of future research have been defined.
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