Improving the maneuverability of vehicles by using front swivel axles with separate electric wheels

Abstract

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