Abstract
Cars with electric and hybrid drive of driving wheels have become widespread in the world in recent years. For a wide class of wheeled vehicles with a combined electromechanical drive, it became possible to make the front axle swivel, which makes it possible to increase their maneuverability. The use of separate control of electric motors of the front swivel drive axle makes it possible to control the turning of machines by creating a difference in tangential reactions on the front wheels. This article analyzes the controllability of a four-wheeled special chassis with a combined power plant when creating a difference in torque on the front wheels. The obtained analytical dependences make it possible to evaluate the controllability of vehicles with a front steering axle. It is determined that the indicators of controllability and turning (angular acceleration and angular velocity) with the front rotary drive axle and the creation of a torque difference on its wheels are higher than in the case of equality of certain moments. The influence of the law of changing the difference of torques on the kinematic parameters of the car turning is investigated. It is determined that for each of the three laws of changing the difference in torques, the relative angular velocity of the car turning increases with time. The proposed steering is a system with two degrees of freedom, since two independent control actions are created at its input - turning the steering wheel and creating a difference in torque on the front wheels. Therefore, the solution of the task was carried out using a complex motion model. It should be said that the rigid wheels of the car were considered. When studying the movement of a car with wheels that are elastic in the lateral direction, it is necessary to use a model of a multicomponent complex movement, consisting of one portable and two relative movements. The second relative movement is the movement due to the deformation of the tires during their lateral withdrawal.
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