The article describes the results of modeling and evaluating the dynamics of a road train with an active trailer link based on valve-inductor electric machines. It gives a general view and an equivalent road train diagram, shows a generalized simulation model of the movement of a two-link road train developed in the Simulink environment for studying motion in various road conditions. We proposed a reference surface model based on the terrain map, blocks were developed for calculating the road tilt angles separately for the tractor and the semitrailer, taking into account the type of coating under each road train wheel at the current time. The visualization of the movement of the road train is shown, the results of modeling and evaluation of the dynamics of the road train with an active trailer link based on valve-induction electric machines for creating control systems for individual drives of the electric motor-wheel of an active semi-trailer and developing a program and methodology of full-scale experimental research representations.
The article describes the results of modeling and evaluating the dynamics of movement of a wheeled tractor. It presents blocks of Simulink schemes for calculating vertical reactions, the gravitational projection of a tractor, the drag force, and the dynamics of a tractor body.
This article presents the main provisions of the new scientific and methodological approach, integrated mathematical model and methodics assessing the technical perfection of wheeled transport means of particularly large capacity based on road trains with active links and all wheeled steering. The results of the research allowed us to justify scientific and methodological approach to the assessment of technical excellence wheeled transport means of particularly large capacity based on road trains with active links and all wheeled steering, which includes implemented conceptual apparatus, scientific concepts and principles, theoretical and practical provisions. Results of justification and developing integrated mathematical model include the total mass equations, and methodics wheeled transport means of particularly large capacity based on road trains with active links and all wheeled steering. Introduced the concept of the integrated mathematical model, justified and developed by the integrated mathematical model wheeled transport means of particularly large capacity based on road trains with active links and all wheeled steering, in which includes the equation of the total mass of transport means in absolute and relative values, equations of dynamics of sprung and unsprung masses of links of wheeled transport means, equations of joint dynamics of wheeled transport means taking into account the applications of the saddle device and all-wheel control, models of interaction of wheel propellers with the support surface, models of the micro-profile and macro-profile of the support surface, and other component parts united comprehensive model. On the basis comprehensive mathematical model proposed metodics assessment of the technical excellence of the road train with active links and all-wheel control, recommendations on the choice of indicators and evaluation criteria are justified.
The article describes the results of modeling and evaluating the dynamics of an active semi-trailer. It presents the developed blocks for calculating the vertical reactions of the semi-trailer, the projections of the gravity of the semi-trailer, and the aerodynamic drag forces of the semi-trailer, trailer, the angle of rotation of the wheels of the semi-trailer, the dynamics of the body of the semi-trailer.
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