There is a need for vehicles to maneuver when there are traffic jams, to overcome narrow streets and various obstacles. This leads to increased requirements for dynamism and maneuverability of vehicles. The authors present the results of the development and research of the steering control of the vehicle, which provides increased maneuverability. Such circumstances significantly affect the increase in maneuverability of wheeled vehicles, including tractors, for which the use of front suspension axles is possible in terms of layout. The use of a front swing axle with electric motor-wheels with separate control will increase the maneuverability of a two-axle vehicle and minimize the steering effort when turning. When solving the task, a mathematical model of the movement of the vehicle on a turn was created. The forces in the contact of the wheels with the road surface were determined, which made it possible to determine the forces and moments of resistance to the rotation of the front axle. Rational laws of control of turning the front axle, providing minimal resistance to the movement of the vehicle, were obtained. A vehicle turning control option is proposed, in which the wheels of the outer and inner sides are alternately braked when the vehicle enters and exits the turn. In addition, it is possible to alternately create a torque difference on the wheels of the outer and inner sides of the front axle. Using the proposed turn control options, it is possible to create a multi-axle vehicle with a rocking axle. The materials of the article on the controllability of vehicles depending on the design of the steering and front axle are of interest to researchers, designers of mobile equipment, graduate students and students of engineering specialties
Cars with electric and hybrid drive of driving wheels have become widespread in the world in recent years. For a wide class of wheeled vehicles with a combined electromechanical drive, it became possible to make the front axle swivel, which makes it possible to increase their maneuverability. The use of separate control of electric motors of the front swivel drive axle makes it possible to control the turning of machines by creating a difference in tangential reactions on the front wheels. This article analyzes the controllability of a four-wheeled special chassis with a combined power plant when creating a difference in torque on the front wheels. The obtained analytical dependences make it possible to evaluate the controllability of vehicles with a front steering axle. It is determined that the indicators of controllability and turning (angular acceleration and angular velocity) with the front rotary drive axle and the creation of a torque difference on its wheels are higher than in the case of equality of certain moments. The influence of the law of changing the difference of torques on the kinematic parameters of the car turning is investigated. It is determined that for each of the three laws of changing the difference in torques, the relative angular velocity of the car turning increases with time. The proposed steering is a system with two degrees of freedom, since two independent control actions are created at its input - turning the steering wheel and creating a difference in torque on the front wheels. Therefore, the solution of the task was carried out using a complex motion model. It should be said that the rigid wheels of the car were considered. When studying the movement of a car with wheels that are elastic in the lateral direction, it is necessary to use a model of a multicomponent complex movement, consisting of one portable and two relative movements. The second relative movement is the movement due to the deformation of the tires during their lateral withdrawal.
One of the ways to increase the maneuverability of the wheeled vehicles of the National Guard of Ukraine is to use a four-axle wheeled chassis with two turntables, which will allow the machine to turn with the smallest radius, move crab, sideways and turn around its own vertical axis. The creation of such a chassis is associated with a large amount of various experiments and tests of the finished sample. The development of computer technology and technologies has led to the creation of software applications for computer (simulation) modeling, which allow research and study of the properties of technical objects and systems under different conditions. The article developed a digital model of the chassis of a four-axle machine with two turntables and identified its features. For modeling, a powerful package of solid modeling Autodesk Inventor was chosen, which provides a comprehensive flexible set of tools for 3D design, visualization, instrumentation, analysis and calculations. When building a general 3D model of the chassis, the main features of the layout of parts and assemblies of this wheeled vehicle were taken into account. The forced rotation of the wheels and the rotation of the platforms were modeled by entering the value of a single parameter or setting using a graph. Depending on the needs of the experiment, graphs were set for displacements, speed or acceleration. In the course of a visual experiment, a simulation of the maneuvering of a four-axle vehicle was carried out for three options: turning the chassis to move in the opposite direction; changing the direction of movement through the turn of the chassis is a difficult maneuver; turning the chassis for sideways movement. The analysis of virtual studies showed that the control of the front, rear or both turntables is a promising way to increase the maneuverability of wheeled vehicles. In addition, the created computer prototype allows you to determine the main characteristics of the future product, carry out analysis, upgrade and necessary modification, set the desired trajectory of movement, including when passing through obstacles.
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