Abstract
Research relevance. Modes accompanied by increased sliding of a wheel with negative viscous friction, characterized by reduction of friction force at growth of sliding speed, can arise at the movement of the vehicle. In these cases, a loss of stability may occur, resulting in the excitation of auto-oscillation phenomena in the electromechanical system (road-wheel-mechanical drive-electric motor). The emergence of this process sharply increases the dynamic load of the system, which can lead to its failure or breakdown. As a consequence, the development of suppression methods of auto-oscillation phenomena is considered to be an urgent task.Purpose of the research. Verification of operability and efficiency of the suppression method of auto oscillations in the electromechanical system of wheel drive during braking of the vehicle.Materials and Methods. With the help of Lyapunov’ function analysis for the electromechanical system of wheel drive the suppression method of auto oscillation phenomena is substantiated. The study of the algorithm performance has been carried out with the use of MATLAB Simulink program complex.Research results. The operability and efficiency of the algorithm is proved by methods of simulation mathematical modeling, which allows its further use in the development of traffic control systems. In case of braking of the vehicle equipped with antilock braking system with the function of suppression of auto oscillations on a slippery support base the reduction of amplitudes oscillation of angular velocities of wheels by 80% and braking moments by 96% is observed. When this vehicle is braked on a high adhesion base, the amplitudes are reduced by 98% in angular velocities and 81% in torques. In simulation modeling of vehicle braking dynamics on a support base with low adhesion properties it has also been shown that in these cases the evasive maneuver can be performed, which indicates on the increase in controllability and active safety of the vehicle.Conclusion. The practical value of the study lies in the possibility of using the developed algorithm for suppressing auto oscillations in practical application as part of vehicle control systems. The developed algorithm can be used on vehicles of different classes equipped with individual traction electric drive of driving wheels.
Published Version
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