Features of mathematical modeling of curvilinear motion of an active road train with steered wheels

Modern special-purpose road trains must meet special requirements for cross-country ability, maneuverability, stability, and controllability. In this regard, the trailer link is equipped not only with a traction drive for activation, but also with a wheel steering control system, as well as a mechanism for controlling the folding of links in the fifth-wheel coupling device. When calculating the parameters of curvilinear motion of such road trains, the mathematical model becomes significantly more complicated. The greatest difficulties arise when describing the transverse reactions in the contact patch of elastic wheels with the supporting surface and the elastic-damping forces in the fifth-wheel coupling device. The alternative method for calculating the parameters of curvilinear motion of an active road train with steered wheels proposed by the authors, which consists in considering the dynamic equilibrium of the tractor and semitrailer separately, was used to study the stability of road trains with various design solutions when performing standard maneuvers.

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