Abstract
The paper presents a mathematical model of curvilinear motion of a two-unit road train consisting of a four-axle tractor with independent wheel drive and a three-axle semitrailer on non-yielding bearing surface. The model considers variation in the normal load on fifth-wheel coupling (FWC) of the tractor during motion and cornering resistance moment caused by friction between the semitrailer and FWC bolster. Using the developed software, we can examine the effectiveness of algorithms of steering systems of the tractor and trailer unit allowing for various traction combinations of road train units.
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