Mathematical model for assessing lateral stability of articulated tracked vehicles

Abstract

The article considers the problem of increasing transport productivity, operational reliability and safety during cargo transportation by using articulated tracked vehicles and road trains with active trailers. The influence of the introduction of an electromechanical drive, the modernization of the propulsion unit and the steering control system on the lateral stability of an articulated tracked vehicle is analyzed. A mathematical model is described for calculating the lateral stability of the chassis of articulated tracked vehicles used in the regions of the Far North, Arctic and Antarctic. The model is based on developments carried out for the chassis of an articulated wheeled vehicle. The model allows calculating to determine the key geometric and kinematic parameters of the rotation, taking into account the action of external forces. The use of holonomic constraints in determining the critical speed of movement is determined by the physical picture of the beginning of overturning, which corresponds to the achievement of the critical folding angle of the sections. This approach makes it possible not to use empirical coefficients when assessing the instantaneous position of the center of gravity of the system, the center of rotation, the radius of rotation of the center of mass, and the critical speed of the chassis. The moment of the beginning of the rollover is determined by the disappearance of the normal reaction under the link caterpillar. The onset of lateral sliding is determined by the lateral force exceeding the lateral adhesion limit.