Mathematical simulation of stability of steady-state conditions for a road train

Abstract

The article is devoted to the application of the parameter continuation method for solving the problem of maneuverability of a three-trailer road train. The mathematical model of a three-trailer road train with a wheelless intermediate link is worked out. The analysis of the equilibrium conditions of the system is performed. The structural instability of the model of the road train in the neighbourhood of the linear motion is presented. The presence of stable circular steady-state conditions is proved when moving along circles of a sufficiently small radius. It is established that for a given longitudinal velocity there is a certain range of changes in the rotation angle of the steering wheels of the tractor unit, within which stable steady-state conditions may be. The analysis of the stability of the steady-state conditions at θ = 0.38 rad. For the steady-state conditions, the configuration of the road train is drawn, where it can be seen that the without bearing link can only be oriented to the outer side of the turn. Also in the process of numerical integration, it is found that the resulting steady-state conditions are asymptotically stable.