Модель динамики колесной машины для комплекса натурно-математического моделирования

Abstract

Introduction. The use of the method of full-scale-mathematical modeling in “real time” opens up wide opportunities associated with the analysis of the modes of operation of the “man – vehicle – environment” system, as well as the study of the loading of units and assemblies of vehicles. The existing research complexes of full-scale mathematical modeling are suitable for obtaining most of the indicators usually determined by full-scale tests. The difference lies in the ability to fully control the course of virtual testing, recording any parameters of the vehicle movement, taking into account the “human factor”, as well as complete safety of the experiment. Purpose of research. The purpose of this work is to create a mathematical model of the dynam-ics of a wheeled vehicle, suitable for use in such a complex of full-scale mathematical modeling and assessment of the load of transmission units in conditions close to real operation. Methodology and methods. The proposed model is based on the existing model of the dynamics of a wheeled vehicle developed at Bauman Moscow State Technical University. Within the framework of the model, the dynamics of a vehicle is described as a plane motion of a rigid body in a horizontal plane. The principle of possible displacements is applied to determine the normal reac-tions of the bearing surface. The interaction of the wheel with the ground in the plane of the support base is described using an approach based on the “friction ellipse” concept. To enable the driver and operator of the full-scale mathematical modeling complex to drive a virtual vehicle in “real time” mode, the mathematical model is supplemented with a control system that communicates between the control parameter set by the driver by pressing the accelerator and brake pedals and the control actions of the vehicle's transmission units, such as: an electric machine, an internal combustion en-gine, a hydrodynamic retarder and a brake system. The article presents a block diagram of the de-veloped control algorithm, as well as approbation of the system's operation in a complex of full-scale mathematical modeling. Results and scientific novelty. A mathematical model of the dynamics of a wheeled vehicle was developed. It opens up wide possibilities for studying the modes of operation of the “driver-vehicle-environment” system in “real time”, using a complex of full-scale mathematical modeling. Practical significance. A mathematical model of the dynamics of a wheeled vehicle was devel-oped. It is supplemented with an algorithm for the distribution of traction / braking torques between the transmission units, which provide a connection between the driver's pressing on the accelerator / brake pedal and the control parameters of each of the units.