Development of a mathematical model of an articulated cross-country vehicle for the Arctic zones of the Russian Federation, regions of the Far North and the Far East

Abstract

Currently Bauman Moscow State Technical University, PJSC "KAMAZ" and Moscow Polytechnic University are working on the creation of an articulated-cross-country vehicle on the basis of serial units and aggregates of KAMAZ vehicles, the main design feature of which is the joint junction. Depending on the design, single-stage, two-stage and three-stage hinges are distinguished, allowing to realize rotation around the vertical, longitudinal and transverse axis of the junction joint. The article deals with the influence of the angle of inclination of the pivot pin (vertical axis) and the introduction of an additional (longitudinal) degree of freedom in a single-junction joint at the stabilizing moment. For this purpose, a mathematical model of an articulated cross-country vehicle was developed in the environment of the automated analysis of the dynamics of systems of bodies. The description of the main nodes, systems and control algorithms of the developed all-terrain vehicle is given. During the simulation, the movement of the vehicle was investigated when performing the typical maneuver with different versions of the joint unit with simultaneous registration of the folding angle of the frame sections. Based on the studies performed and analysis of their results, the following conclusions are formulated: the stabilizing moment, sufficient to return the frame sections to the initial position, arises only at large angles of inclination of the pivot pin, and the introduction of an additional degree of freedom in the junction node substantially reduces the stabilizing moment. Further development of the mathematical model will allow at the design stage to estimate such operational indicators of the all-terrain vehicle being developed as smooth running, profile cross-country, traction and braking dynamics under different road conditions.