Abstract
Road train steady motion mode divergent stability loss compiles with the critical according to A.M. Liapunov case of a single zero root. That said both safe and dangerous stability loss scenarios are possible according to N.N. Bautin. Dangerous stability loss is followed with a semi-trailer intensive drifting even in case of linear motion. Analyzing the reasons of such system behavior requires developing new effective analytical approaches towards defining safe-dangerous articulated vehicle divergent stability loss because direct methods for finding corresponding Liapunov indexes may appear ineffective in the analytical form being excessively cumbersome. The work presents a formalized approach to analyzing safe stability loss conditions the essence of which is in defining conditions when bifurcation set structure rearrangement occurs in linear motion critical speed small neighborhood. The kind of approach has been tested by the authors when analyzing single unit vehicle stability. Analytical relations are presented defining road train configuration following circular paths with constant Ackermann angle; consideration of analytical results accuracy evaluation is performed based on comparing to the results received with numerical analytic parameter continuation method; analytical relations are received corresponding to safe linear motion mode stability loss (in the sense of N.N. Bautin). The work develops methods of analyzing two-link vehicle non-linear model two-parameter steady modes manifold stability.
Highlights
Road train handling properties can differ from the corresponding properties of a separately taken tractor truck to a great extent because of vertical reactions redistribution on the tractor truck centre shafts and transverse reaction appearing in the point of coupling with a semitrailer [1,2,3,4,5]
Special attention from the point of view of traffic security should be paid to analyzing conditions which may cause abrupt changes semitrailer orientation in the circular mode with varying movement traveling speed [6]
Pauwelussen [18] results and is aimed at further development of graph-analytical approach to analyzing two-link road train nonlinear model steady states multitude using the idea of bifurcation analyses
Summary
Road train handling properties can differ from the corresponding properties of a separately taken tractor truck to a great extent because of vertical reactions redistribution on the tractor truck centre shafts and transverse reaction appearing in the point of coupling with a semitrailer [1,2,3,4,5]. Special attention from the point of view of traffic security should be paid to analyzing conditions which may cause abrupt changes (folding bifurcation corresponding to the divergent circular steady mode stability loss) semitrailer orientation (internal-external) in the circular mode with varying movement traveling speed [6]. Loss of a Two-Link Road Train Nonlinear Model work allowing to receive a more complete bolster – type road train model bifurcation multitude representation in an analytical form. The work is inspired by J.P. Pauwelussen [18] results and is aimed at further development of graph-analytical approach to analyzing two-link road train nonlinear model steady states multitude using the idea of bifurcation analyses
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