Browse Publications Technical Papers 2018-01-6002
2018-10-19

Determination of the Stability of Steady-State Conditions for a Model of Road Train 2018-01-6002

This article is devoted to the application of the parameter continuation method for solving the problem of maneuverability of a three-trailer road train. The software computing base is developed in it. The model makes it possible to research the variety of the stationary states of the road train model system control parameters such as the change in longitudinal velocity of freight traffic (the discrete parameter) and the wheel turning angle of the road train (the continuous parameter). The mathematical model of motion of road train is worked out for the most complete description of possible stationary states of a three-trailer road train with without bearing intermediate member with rigid steering control steering control. The model makes it possible to research the variety of the stationary states of the road train model system control parameters. The differential equation system of motion of a road train describes the change in the phase variables: lateral velocity u of center of mass of the tractor unit (quasi-velocity), derivative U of u in the moving coordinates, angular acceleration relative to the vertical axis, velocity of folding angle, the folding angle velocity, the semi-trailer angular acceleration relative to the intrinsic vertical axis, and the trailer angular acceleration relative to the intrinsic vertical axis. Circular steady-state conditions of the system are determined at different speeds. The steady-state conditions are determined by the tabular integration, iteration, and parameter continuation methods. The steady-state condition set is defined. It is the steady-state condition curve. The geometric criteria of stability loss on the steady-state condition curve are estimated. With the considered set of system parameters, the turning point of the stationary conditions curve is realized at the value of the steering wheel turning angle θ∗∗ = 0.56 rad.

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