This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Determination of the Stability of Steady-State Conditions for a Model of Road Train
Technical Paper
2018-01-6002
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Event:
Automotive Technical Papers
Language:
English
Abstract
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.
Authors
- Olha Sakno - State Academy of Civil Engineering
- Dmytro Moisia - National Transport University
- Tatiana Kolesnikova - Prydniprovs’ka State Academy of Civil Engineering and
- Nikolay Mischenko - Pensioner
- Viktor Poliakov - National Transport University
- Svitlana Mykhaylivna Sharai - National Transport University
Topic
Citation
Sakno, O., Moisia, D., Kolesnikova, T., Mischenko, N. et al., "Determination of the Stability of Steady-State Conditions for a Model of Road Train," SAE Technical Paper 2018-01-6002, 2018, https://doi.org/10.4271/2018-01-6002.Data Sets - Support Documents
Title | Description | Download |
---|---|---|
Unnamed Dataset 1 |
Also In
References
- Ritzen , P. , Roebroek , E. , Wouw , N. , van de Jiang , Z.-P. , et al. Trailer Steering Control of a Tractor-Trailer Robot IEEE Transactions on Control Systems Technology 24 4 2016 1240 1252 https://doi.org/10.1109/TCST.2015.2499699
- Kayacan , E. , Kayacan , E. , Ramon , H. , and Saeys , W. Distributed Nonlinear Model Predictive Control of an Autonomous Tractor-Trailer System Mechatronics 24 8 926 933 2014 doi.org/10.1016/j.mechatronics.2014.03.007
- Verbitskii , V. , Lobas , L. Material Bifurcations of Two-Link Systems with Rolling Applied Mathematics and Mechanics 3 1987 418 425 0032-8235
- Lobas , L. and Verbitskii , V. Qualitative and Analytical Methods in the Dynamics of Wheeled Vehicles Naukova Dumka Kiev 1990 232 5-12-001307-4
- Ellis , J. Vehicle Dynamics London Business Books 1969 243 0220992029
- Shinohara , Y. A Geometric Method for the Numerical Solution of Non-Linear Equations and Its Application to Non-Linear Oscillations Publications of the Research Institute for Mathematical Sciences of Kyoto University 8 1 13 42 1972 10.4171/PRIMS
- Bazhenov , V.A. , Pogorelova , O.S. , and Postnikova , T.G. Application of Parameter Continuation Method for Investigation of Vibroimpact Systems Dynamic Behaviour. Problem State. Short Survey of World Scientific Literature Opir materialiv i teoria sporud-Strength of Materials and Theory of Structures 93 110 117 2014 http://opir.knuba.edu.ua/files/zbirnyk-93/15.pdf
- Azevedo , R.C. , Peres , J. , von Stosch , M. An Efficient Method for the Numerical Integration of Measured Variable Dependent Ordinary Differential Equations Engineering Applications of Artificial Intelligence 38 24 33 2015 10.1016/j.engappai.2014.10.014
- Bardella , L. , Carini , A. , and Genna , F. Time Integration Errors and Some New Functionals for the Dynamics of a Free Mass Computers & Structures 81 24-25 2361 2372 2003 10.1016/S0045-7949(03)00307-9
- Noor , M.A. , Noor , K.I. , Al-Said , E. , and Waseem , M. Some New Iterative Methods for Nonlinear Equations Mathematical Problems in Engineering 2010 12 2010 10.1155/2010/198943
- Ujević , N. An Iterative Method for Solving Nonlinear Equations Journal of Computational and Applied Mathematics 201 1 208 216 2007 10.1016/j.cam.2006.02.015
- Mohyud-Din , S.T. , Sikander , W. , Khan , U. , and Ahmed , N. Optimal Variational Iteration Method for Nonlinear Problems Journal of the Association of Arab Universities for Basic and Applied Sciences 24 191 197 2017 10.1016/j.jaubas.2016.09.004
- Rocard , Y. L'instabilité en mécanique, automobiles-avions-ponts suspendus Paris Masson et Cie 1954 1163-5576
- Guiggiani , M. Dinamica del veicolo Torino CittàStudi Edizioni 2007 978-88-251-7300-0
- Wang , Y.-S. and Chien , C.-S. A Two-Parameter Continuation Method for Computing Numerical Solutions of Spin-1 Bose-Einstein Condensates Journal of Computational Physics 256 198 213 2014 10.1016/j.jcp.2013.08.056
- Schiehlen , W. Dynamical Analysis of Vehicle Systems Wien Springer-Verlag 2009 304 10.1007/978-3-211-76666-8 978-3-211-76666-8
- Pilipchuk , V.N. Nonlinear Dynamics Berlin Heidelberg Springer-Verlag 2010 360 10.1007/978-3-642-12799-1 978-3-642-12799-1
- Andrejeloski , R. and Awrejcewicz , J. Nonlinear Dynamics of a Wheeled Vehicle Springer Boston, MA 2005 326 https://doi.org/10.1007/b105240 978-0-387-24358-0 978-0-387-24359-7