Abstract
The work analyzes the properties of handling and bicycle vehicle model motion stationary states manifold stability taking into account drift force nonlinear characteristics. Determining single two-axle vehicle nonlinear model stationary states and analyzing their stability were based on a graphical method (Y. M. Pevzner, H. Pacejka). It has its disadvantages: the absence of evident analytical stability criteria for the entire wheeled vehicle circular stationary states manifold. And also the absence of global stability threshold characteristics in the controlled parameter space. The task part suggests developing methods for building bifurcation manifold or critical parameters manifold (longitudinal velocity and wheel turning angle) with which the divergent loss of stability occurs. Known H. Troger, K. Zeman and Fabio Della Rossaa, GiampieroMastinub, Carlo Piccardia results are based on parameter continuation numerical methods which makes the quality analysis of drift force nonlinear characteristics impact on the entire stationary states manifold stability conditions more difficult. A compelling grapho-analytic approach towards bifurcation manifold building and getting circular stationary states analytical stability conditions based on moving from nonlinear drift forces on axles dependencies to their inverse dependence is developed in the suggested work. This methodology allows defining dangerous/safe stability threshold conditions in the control parameters space.
Highlights
One of the vehicle dynamic properties important characteristics is the property of steering – an ability to perform a circular motion with a locus radius of curvature fixed value and continuous longitudinal velocity parameter growth [1]
At present these tasks are solved either by using the Pevzner-Pacejkagrapho-analytical method [6, 8] with its advantages of simplicity and visualization, and disadvantages of missing corresponding analytic and quantitative evaluations, or building stability diagrams in the control parameters plane is done numerically based on the two-parameter continuation method which makes it more difficult to analyze the initial reasons causing the stability diagram boarders alteration
Analyzing results received based on the suggested twoaxle vehicle model stability and handling researchingapproach points at considerable effectiveness of introducing rear axle steering into design, in particular: a model with oversteering rectilinear motion critical velocity increases considerably; minimum possible motion circular stationary states radii of curvature are reduced; a maximum possible velocity in circular paths with quite large radii of curvature increases; a control ration effective value is within the Kω = 0,15 − 0, 2 range
Summary
One of the vehicle dynamic properties important characteristics is the property of steering – an ability to perform a circular motion with a locus radius of curvature fixed value and continuous longitudinal velocity parameter growth [1]. An important aspect when analyzing handling properties which hasn’t been covered before is defining conditions for vehicle handling properties change with large enough transverse acceleration values, for example, from insufficient to excessive Another relevant problem is determining the analytical conditions of the divergent loss of stability for the whole variety of vehicle movement circular stationary modes and its special case – the task of circular stationary modes corresponding to the handling curve divergent loss of stability. This article deals with handling properties of both linear vehicle model and non-linear bicycle model based on further development of the Pevsner-Pacejka grapho-analytical method complemented by a simple and effective control parameters bifurcation multitude building technique [7, 10, 11, 12] which to our mind can serve as a preliminary analysis test of the vehicle movement stationary states entire manifold handling and stability characteristics to evaluate various design solutions viability. More complete models can certainly be obtained involving continuation method universal numerical algorithms [13, 14]
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