Middle Axle Research Articles

Hardware-in-the-loop simulation of active roll control for single-trailer truck using steerable wheel at the middle axle

Hardware-in-the-loop simulation of active roll control for single-trailer truck using steerable wheel at the middle axle

Hardware-in-the-loop simulation of active roll control for single-trailer truck using steerable wheel at the middle axle

Hardware-in-the-loop simulation of active roll control for single-trailer truck using steerable wheel at the middle axle

High-speed lateral stability and trajectory tracking performance for a tractor-semitrailer with active trailer steering.

An active trailer steering (ATS) controller is investigated to improve the lateral stability and trajectory tracking performance of the tractor-semitrailer. First of all, a linear yaw-roll dynamic model of the tractor-semitrailer with steerable trailer wheels is established, and the model accuracy is verified. Then a linear quadratic regulator (LQR) for actively steering the trailer's wheels is designed. For the LQR controller, the lateral acceleration and the sideslip angle at the center of gravity (CG) of the trailer are taken as the optimization objectives, and the steering angle of the wheel on the middle axle of the trailer is set as the control input. Finally, the effectiveness of the designed controller is tested based on the co-simulation platform under the single lane-change (SLC) maneuver at the speed of 100 km/h and the double lane-change (DLC) maneuver at the speed of 80 km/h and 88km/h. Research results show that under the high-speed SLC maneuver, the designed LQR controller can significantly improves the lateral stability and trajectory tracking performance of the trailer, and cannot affect apparently the trajectory and dynamic responses of the tractor. Under the high-speed DLC maneuver, the designed controller can still make the tractor-semitrailer reach a new steady state in a short time, and improve the vehicle lateral stability and the trajectory tracking performance of the trailer at the same time.

Yaw stability control of single-trailer truck using steerable wheel at middle axle: hardware-in-the-loop simulation

Yaw stability control of single-trailer truck using steerable wheel at middle axle: hardware-in-the-loop simulation

The Design of a Cracker Dough Cutting Machine Using an Effective And Efficient Roll Cutting Setter For Home Industry Scale

The design aims to produce mass cracker production on a homa scale industry that is effective and efficient i order to meet consumption needs. The cutting machine has on a 50cm length of aluminium strip plate, a roll knife made of stainless stell, 1,5mm thick, 45mm diameter, 5mm middle axle hole, with letter L shape support. With 12 knives the roll has a distance of 4cm. Testing on a thick dough of 1-1,5mm width 46cm square with the help of a 10mm thick pvc mattress 50cm wide square using a stopper right and left in the shape of an angle of 3mm thick iron plate the work process of scratching a roll knife into the dough on the mat with a reference to the stopper of longitudinal and transverse movements for effective and efficient results, testing five times gets an average time of 00:49 seconds in the previous test while in the renewable machines it gets an average time of 00:22seconds. So the results of the analysis can be said to be effective and have more efficiency than previous machines.

Development of variable-configuration wheeled driving system for enhancing the obstacle-crossing ability of unmanned vehicles

A variable-configuration wheeled driving system is proposed to improve the obstacle-crossing abilities of unmanned vehicles. The effects of the wheel load on the wheels’ obstacle-crossing abilities are analysed using statics theory. Similarly, the effects of the suspension’s stiffness and the adhesion coefficient on the vehicle’s obstacle-crossing ability are analysed. Numerical calculation results show that a higher wheel lift height leads to improved obstacle-crossing abilities. A strategy to adjust the system configuration during obstacle crossing is designed with the wheel lift height acting as the optimisation target. The variable-configuration strategy is verified and the optimal adjustment of the middle axle is determined through simulations. An obstacle-crossing experiment shows that a vehicle can cross a 1-m step obstacle when the proposed variable-configuration strategy is applied. The obstacle-crossing ability of the unmanned vehicle can thus be greatly enhanced.

Simulation and optimization of steady rotation characteristics of middle axle trailer train

In order to optimize the steady rotation characteristics of the van-type middle axle trailer train, an efficient optimization method is proposed based on the response surface methodology and genetic algorithm. Firstly, this paper established the mathematical equations and the steady rotary simulation movement model of the van-type middle axle trailer train, and using TruckSim to simulate in standard conditions, the correctness of the model was verified by comparing with the experimental results of steady rotation. Secondly, according to the established mathematical model, the structural parameters that affect the steady rotation characteristics are analyzed. Finally, the response surface model is applied to obtain the objective function of each parameter, and the parameters are optimized by genetic algorithm(GA). According to the simulation with optimized parameters, the results show that, the comprehensive score of the steady rotation test of the middle axle trailer train was increased by 21.7%, the lateral acceleration and yaw rate of the truck was reduced by 6.65% and 9.92% respectively, and the roll angle of tractor and trailer was reduced by 19.25% and 12.5% respectively.

Failure Analysis of Primary Suspension Spring of Rail Road Vehicle

WAG-9-type electric rail vehicle, of Indian Railways’ fleet used for goods train hauling and maintained at Ajani, Nagpur Electric Loco Shed of central railway, has a history of frequent failure of middle axle primary inner suspension spring. The study of failures revealed that this specific component fails at a very high rate. The failure investigation starts the experimental spectroscopy analysis to find chemical composition for different failed specimens of springs, and it is observed that all parameters are within the recommended range. Also the stiffness of primary middle axle and end axle suspension springs has been checked on spring testing machine to measure deflection of spring, and it is as per recommended values. Further static stress analysis is carried out using analytical and finite element analysis for various phases of operation of rail vehicle like straight track, curved track and also for tractive effort. The static stress analysis has not revealed the cause of failure, and hence the dynamic analysis is performed. For dynamic analysis, dynamic model of suspension system is considered and analyzed using analytical method, finite element method and using MATLAB Simulink model. The vibration response of actual suspension system is also measured using FFT analyzer. It has been seen that the frequency of excitation and the natural frequency of the system are very close to each other which has resulted into suspension vibration amplitude of 6–8 mm. Fatigue analysis is carried out using finite element method to investigate the effect of dynamic loading on the failures of suspension spring. This analysis revealed that the middle axle inner suspension spring has finite life and due to which spring failure occurs earlier.

Analysis of Rail Vehicle Suspension Spring with Special Emphasis on Curving, Tracking and Tractive Efforts

The dynamics of the rail vehicle represents a balance between the forces acting between wheel and rail, the inertia forces and the forces exerted by suspension and articulation. Axial loading on helical spring causes vertical deflection at straight track but failures calls to investigate for lateral and longitudinal loading at horizontal and vertical curves respectively. Goods carrying vehicle has the frequent failures of middle axle inner suspension spring calls for investigation. The springs are analyzed for effect of stress concentration due to centripetal force and due to tractive and breaking effort. This paper also discusses shear failure analysis of spring at curvature and at uphill at various speeds for different loading condition analytically and by finite element analysis. Two mass rail vehicle suspension systems have been analyzed for vibration responses analytically using mathematical tool Matlab Simulink and the same will be evaluated using FFT vibration analyzer to find peak resonance in vertical, lateral and longitudinal direction. The results prove that the suspension acquires high repeated load in vertical and lateral direction due to tracking and curving causes maximum stress concentration on middle axle suspension spring as height of this spring is larger than end axle spring in primary suspension system and responsible for failure of middle axle suspension spring due to high stress acquisition.

Vehicle dynamics control using an active third-axle system

This paper introduces the active third-axle system as an innovative vehicle dynamic control method. This method can be applicable for different kinds of three-axle vehicles such as buses, trucks, or even three-axle passenger cars. In this system, an actuator on the middle axle actively applies an independent force on the suspension to improve the handling characteristics, and hence, its technology is similar to slow-active suspension systems. This system can change the inherent vehicle dynamic characteristics, such as under/over steering behaviour, in the linear handling region, as well as vehicle stability in the nonlinear, limit handling region. In this paper, our main focus is to show the potential capabilities of this method in enhancing vehicle dynamic performance. For this purpose, as the first step, the proposed method in both linear and nonlinear vehicle handling regions is studied mathematically. Next, a comprehensive, nonlinear, 10 degrees of freedom vehicle model with a fuzzy control strategy is used to evaluate the effectiveness of this system. The dynamic behaviour of a vehicle, when either uncontrolled or equipped with the active third axle is then compared. Simulation results show that this active system can be considered as an innovative method for vehicle dynamic control.

Main Drive Vehicle of Two-Stage Driving Axle Design

In this paper, the overall requirements for the design of the drive bridge is analysed, the programme of the structure on the drive axle assembly and component parts is studied. The overall design and programme design on the drive axle assembly is finished; the basic structure of the double reduction final drive and the middle tandem axle is ensured which refers to the structure of the reference model CA1092; The basic components on the drive axle assembly are designed. The calculation of their basic geometric parameters is finished, and the strength of the parts which have greater impact on the overall strength is checked; and the remaining components are designed briefly. The paper gave a briefing on the characteristics of Solidworks 2008 software and virtual assembly technology. Introduces three-dimensional maps of parts which are draw by SolidWorks software and describes drive axle assembly by the form of diagrams.

Driver's influence on kinematics of articulated bus

Driver’s influence on kinematics of articulated bus. This paper studies kinematics properties of the particle coach as function of driver’s activity. The main goals are the prediction of the trajectory, the computation of the vector of velocity of each wheel as a function of the real velocity vector of the midpoint of the middle axle and the real curvature of the bus trajectory. The computer algebra system Maple was used for all necessary computations. Article is divided into four main parts. In the first part are derived integral relations describing trajectory of the middle axes midpoint as a function of the absolute value of the velocity and trajectory curvature. At the second part is computed joint trajectory and differential equation describing relation between joint position and position of the midpoint of the rear – towed axle. At the third part is shown how to integrate such system of integral-differential equation using Runge-Kutta method and how to estimate proper size of the time step. In the final part is shown how to compute curve passing time and graphical results of the numerical solution are presented.

Calculation of Flexural Capacity of Steel Reinforced Concrete Beams Strengthened with FRP

Based on earlier theoretical works on RC beams ,the mechanical properties of steel reinforced concrete beams strengthened with FRP(fiber reinforce polymer) are further investigated theoretically including theirs failure mechanism and loadability. According to the design method of reinforced concrete beam strengthened with FRP, steel reinforced concrete beam strengthened with FRP mainly can have three kinds of destruction patterns: the first case is the tensile steel yield, the tensile shaped steel yield, the FRP are put off, the compressive zone’s concrete has not crushed; the second case is the tensile steel yield, the tensile shaped steel yield, the FRP are put off; the compressive zone’s concrete has crushed; the last case is the tensile steel yield, the tensile shaped steel yield, the FRP are not put off, the compressive zone’s concrete has crushed. The second case is discussed in this paper.Based on the different position of middle axle and steel, steel concrete beams strengthened with FRP include: middle axle through the steel web, and not through the steel and just in steel compression flange . Aim at these three kind of situations, the stress are analysed. According to the stress patterns of steel reinforced concrete beams strengthened with FRP and different position between neutral axis and steel, the discriminant formula of the boundary destroys and the formula of cross-section flexural capacity calculation are put forward by using limit equilibrium theory.The formula is expressed clearly, simple and easy to use.The depth of compressive region is given in view of different failure types.