Research of the Snaking Phenomenon to Improve Directional Stability of Remote Controlled Articulated Wheel Tool-Carrier

Łopatka, Marian Janusz; Muszyński, T.

doi:10.22260/isarc2003/0013

Cited by 4 publications

(13 citation statements)

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“…This study uses the Dugoff tire model, and the tire model is complementary to the elastic basis analysis model developed by Fiala and the lateral force-vertical force synthesis model of Pacejka and Sharp. The tire model provides a method to calculate forces under the combined lateral and longitudinal forces [18]. The most important feature is that it is fast and requires only a few parameters for calculation.…”

Section: Tire Modelsmentioning

confidence: 99%

“…Mu [17] showed that elastic torsional suspension can improve the roll stability of vehicles, but the directional stability at high speed of vehicles with suspension is poorer than that of vehicles without suspension. Lopatka and Muszynski [18] analysed the limited perception of driver, which has insensitivity zones of the lateral and angular locations. Drivers rely heavily on rotational motion and their senses to prevent vehicles from snaking; hence, drivers have a significant impact on vehicle stability.…”

Section: Introductionmentioning

confidence: 99%

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Modelling and Stability Analysis of Articulated Vehicles

2021

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This study constructs a nonlinear dynamic model of articulated vehicles and a model of hydraulic steering system. The equations of state required for nonlinear vehicle dynamics models, stability analysis models, and corresponding eigenvalue analysis are obtained by constructing Newtonian mechanical equilibrium equations. The objective and subjective causes of the snake oscillation and relevant indicators for evaluating snake instability are analysed using several vehicle state parameters. The influencing factors of vehicle stability and specific action mechanism of the corresponding factors are analysed by combining the eigenvalue method with multiple vehicle state parameters. The centre of mass position and hydraulic system have a more substantial influence on the stability of vehicles than the other parameters. Vehicles can be in a complex state of snaking and deviating. Different eigenvalues have varying effects on different forms of instability. The critical velocity of the linear stability analysis model obtained through the eigenvalue method is relatively lower than the critical velocity of the nonlinear model.

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Section: Tire Modelsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modelling and Stability Analysis of Articulated Vehicles

2021

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“…Conducted at MUT research [6], [7] shows that main reasons of the snacking phenomenon are : -initial turns of articulated frame (below 0,6 0 ), -residual steering moment in hydraulic cylinders. In Ackerman steering system due to suitable geometry there are a few torques and forces that can acts straighten road wheels because of play in steering system and stabilize of vehicle movement [2].…”

Section: Concept Of Stabilizing Systemmentioning

confidence: 99%

“…In Ackerman steering system due to suitable geometry there are a few torques and forces that can acts straighten road wheels because of play in steering system and stabilize of vehicle movement [2]. Different geometry of steering and play absence in articulated tractors cause the stabilising function of steering system is fulfiled by the driver [7]. Their perception limits accurency of vehicle leding, directional stability of movement and top permitable speed.…”

Section: Concept Of Stabilizing Systemmentioning

confidence: 99%

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The Possibility of Directional Stability Improvement of Articulated Tool-Carriers

Łopatka¹,

Muszyński²

2005

Proceedings of the 22nd International Symposium on Automation and Robotics in Construction

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Abstract-Our research shown that there are two main reasons of poor directional stability of articulated tractorstoolcarriers: a small frame articulation which always occur due to different reason and limited perception of driver which has insensitivity zones of lateral and angular location. On this basis the principle for stabilization of steering system was worked out. In this paper the model of articulated tractor, assumption and result of simulating research such system are presented.Index Terms-Articulated frame vehicle, directional stability, driver aid system, simulated investigation

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Concept and Preliminary Simulations of a Driver-Aid System for Transport Tasks of Articulated Vehicles with a Hydrostatic Steering System

Łopatka¹,

Rubiec²

2020

Applied Sciences

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Heavy-wheeled vehicles with articulated hydraulic steering systems are widely used in construction, road building, forestry, and agriculture, as transport units and tool-carriers because they have many unique advantages that are not available in car steering systems, based on the Ackermann principle, such as—high cross-country mobility, excellent maneuverability, and high payload and lift capacity, due to heavy axles components. One problem that limits their speed of operation and use efficiency is that they have poor directional stability. During straight movement, articulated tractors’ deviate from a straight line and permanent driver correction is required. This limits the vehicles’ speed and productivity. In this study, we describe a driver-aid system concept that would improve the directional stability of articulated vehicles. Designing such a system demands a comprehensive knowledge of the reasons for the snaking phenomenon and driver behaviors. The results of our articulated vehicle directional stability investigation are presented. On this basis, we developed models of articulated vehicles with hydraulic steering systems and driver interaction. We next added the stabilizing system to the model. A simulation demonstrated the possibility of directional stability improvement.

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Research of the Snaking Phenomenon to Improve Directional Stability of Remote Controlled Articulated Wheel Tool-Carrier

Cited by 4 publications

References 0 publications

Modelling and Stability Analysis of Articulated Vehicles

Modelling and Stability Analysis of Articulated Vehicles

The Possibility of Directional Stability Improvement of Articulated Tool-Carriers

Concept and Preliminary Simulations of a Driver-Aid System for Transport Tasks of Articulated Vehicles with a Hydrostatic Steering System

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