Mathematical model of the movement of a tracked train for off-road container transportation

Yevseyev, K.B.

doi:10.31992/0321-4443-2021-5-18-29

Cited by 2 publications

(1 citation statement)

References 1 publication

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“…Средствами теоретической механики описывается динамика тягача и массивных буксируемых объектов [17][18][19] с учетом упругой деформации тягово-сцепных устройств. Составленные системы линейных однородных дифференциальных уравнений с правыми частями решаются методом исключения функций с повышением степени, в результате чего образуются дифференциальные уравнения четвертой и шестой степени.…”

Section: методы исследованияunclassified

Analysis and rationale of TOW units for tractors with massive towed objects

Popov,

Filkin,

Moiseev

et al. 2023

Vestnik IzhGTU imeni M.T. Kalashnikova

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The most difficult stage in the operation of a tractor with massive towed objects is the starting mode. This is due to the need to overcome the static friction force, which significantly exceeds the motion friction force. As a solution to this problem, we can consider the use of the initial kinetic energy of the tractor, which can be developed when using limited elastically deformable tow units. To optimize the mathematical model, the following assumptions are made: traction force F on the hook of the tractor is a constant value; the inertial masses of the tractor and towed objects are the same and equal m. The dynamics of a tractor and massive towed objects is described by means of theoretical mechanics, taking into account the elastic deformation of tow units. The composed systems of linear homogeneous differential equations with right-hand sides are solved by the method of elimination of functions with increasing of exponential order, as a result of which differential equations of the fourth and sixth power are formed. Initial conditions at t = 0: since the tow unit is not deformed and no force is applied to the towed object. The periods t2 and t3 are determined, during which the tow units will undergo maximum deformation. To assess the effectiveness of the use of elastically deformable tow units, the results obtained should be compared with similar results corresponding to absolutely rigid tow units. Comparison of displacements, speeds and energy testifies to the high efficiency of the elastically deformable tow units. The use of elastically deformable tow units makes it possible to accumulate the initial kinetic energy of an aircraft tow tractor, which makes it possible to overcome the static friction force and ensure the starting of heavy towed objects. Comparison of the kinematic and dynamic parameters of the tractor with towed objects for options with absolutely rigid and elastically deformable tow units shows that the efficiency of using the latter increases with an increase in the number of towed objects. Elastically deformable tow units can cause oscillations of the tractor-towed objects system. To prevent them, the tow units must be blocked at the moment of their maximum deformation.

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Section: методы исследованияunclassified

Analysis and rationale of TOW units for tractors with massive towed objects

Popov,

Filkin,

Moiseev

et al. 2023

Vestnik IzhGTU imeni M.T. Kalashnikova

View full text Add to dashboard Cite

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Curvilinear motion control laws for a semi-trailer caterpillar train for off-road cargo transportation

Evseev

2023

Tractors and Agricultural Machinery

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BACKGROUND: For transport accessibility in areas with an undeveloped road network, the use of tracked trains that provide low ground pressure is a rational solution. To ensure the mobility of a semi-trailed, unmanned caterpillar train, which can be controlled remotely by a driver-operator or by an automatic unmanned driving system, traffic control laws are needed. AIMS: Ensuring energy efficiency in curve control of a unmanned semi-trailer tracked train for off-road freight transport. METHODS: The methods of simulation mathematical modelling and analytical methods based on the consideration of the quasi-stationary motion of the caterpillar train links are used to derive energy-efficient control laws and determine the mobility performance that can be achieved. RESULTS: Control laws are obtained for two variants of tracked trains: a tracked train with independent drive control of driving wheels and a tracked train with a differential drive scheme of a semi-trailer link. The control laws are designed to improve the energy efficiency of travel which is achieved by rational distribution of traction forces on the driving wheels of the tracked train and use of the regulator which ensures adjustment of the traction on the semi-trailer driving wheels accord-ing to the sign and magnitude of force in the fifth-wheel coupling of the tractor. A block diagram of a governing system of a caterpillar train and a mathematical description of its basic structural components (blocks) are given. Using the developed control laws the theoretical research of curvilinear movement by simulation mathematical modelling is carried out; the comparative analysis of the considered control laws of the semitrailer caterpillar train movement with two transmission variants is given. CONCLUSIONS: The application of the developed caterpillar train motion control laws will enable the vehicle to move unmanned or follow the lead vehicle along a set path with high accuracy of turning manoeuvres and, consequently, will improve the safety of freight transportation.

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Mathematical model of the movement of a tracked train for off-road container transportation

Cited by 2 publications

References 1 publication

Analysis and rationale of TOW units for tractors with massive towed objects

Analysis and rationale of TOW units for tractors with massive towed objects

Curvilinear motion control laws for a semi-trailer caterpillar train for off-road cargo transportation

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