A GENERALIZED MODEL OF STATIONARY TURNING OF ANY VEHICLE
Keywords:
stationary turn of a vehicle, turn model, constraint equations, force interaction, holonomic and non-holonomic constraintsAbstract
The article discusses a method of building a mathematical model of the curvilinear motion
of an arbitrary vehicle. The proposed approach allows us to describe the turn of a vehicle with
any transmission layout moving along any ground. We ignored vertical oscillations of the frame
at this stage and confined our research to consideration of plane motion. Therefore, the motion
equations are algebraic. The unknown ground reactions included therein are recorded based on
the mathematical theory of friction. In this case, the pulling force, the lateral shearing force, and
the stabilizing moment in wheel-to-ground contact are a function of unknown coordinates of
the instantaneous slip center. This reduces the power problem to wheel movement kinematics and
allows them to be solved simultaneously, considering their interconnection and interdependence.
Then, the article considers the kinematics of wheel movement on the vehicle turn and derives
the missing equations of holonomic and non-holonomic constraints placed on the unknown coordinates of the instantaneous slip centers. The equations of holonomic (geometric) constraints reflect the position of the wheel and its installation angle relative to the vehicle frame. The equations of non-holonomic (kinematic) constraints describe the type of transmission and the wheel movement mode (driving, driven, braking). The article gives examples of non-holonomic constraint equations for various types of transmissions. As a result, the description of each wheel individually, considering its contact size and normal load, allows us to receive the developed traction force and the value of slipping. To illustrate the implementation of the proposed methodology, the article presents an example of building a mathematical model for the Uralets compact wheeled tractor manufactured by Chelyabinsk Tractor Plant with an unconventional turn control scheme. This model has been tested experimentally, which confirms the applicability of the offered approach.
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