Abstract
This study constructs a nonlinear dynamic model of articulated vehicles and a model of hydraulic steering system. The equations of state required for nonlinear vehicle dynamics models, stability analysis models, and corresponding eigenvalue analysis are obtained by constructing Newtonian mechanical equilibrium equations. The objective and subjective causes of the snake oscillation and relevant indicators for evaluating snake instability are analysed using several vehicle state parameters. The influencing factors of vehicle stability and specific action mechanism of the corresponding factors are analysed by combining the eigenvalue method with multiple vehicle state parameters. The centre of mass position and hydraulic system have a more substantial influence on the stability of vehicles than the other parameters. Vehicles can be in a complex state of snaking and deviating. Different eigenvalues have varying effects on different forms of instability. The critical velocity of the linear stability analysis model obtained through the eigenvalue method is relatively lower than the critical velocity of the nonlinear model.
Highlights
Articulated vehicles with small steering radius and positive maneuverability are extensively used in mining, construction, forestry, emergency rescue, and other fields [1,2]
The analysis of the results indicates that the larger the force arm, the more rigid the hydraulic steering system and the more stable the articulated vehicles
A linearised stability analysis model was established to analyse the factors influencing the stability of articulated vehicles
Summary
Articulated vehicles with small steering radius and positive maneuverability are extensively used in mining, construction, forestry, emergency rescue, and other fields [1,2]. Articulated vehicles consist of two separate front and rear vehicles and an articulated steering device connecting the both vehicles This particular form of construction and steering results in underdeveloped stability, at high speed, and the snaking instability phenomenon will occur [1,3]. This situation increases the operating burden and danger for drivers and limits the speed and efficiency of articulated vehicles. The first approach assumes that vehicles travel at a constant speed, obtains the corresponding characteristic equations by linearising the vehicle dynamics model and analyses the vehicle state using the eigenvalue method [4,5,6]. A better analysis of vehicle stability can be conducted by combining eigenvalue curves with vehicle status parameters compared with mere eigenvalue curves
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