Казанский (Приволжский) федеральный университет, КФУ
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DEVELOPMENT AND RESEARCH OF THE MATHEMATICAL MODEL OF PLANAR MOTION OF A VEHICLE WITH A SEMITRAILER
Форма представленияСтатьи в зарубежных журналах и сборниках
Год публикации2018
  • Карабцев Владимир Сергеевич, автор
  • Волков Василий Геннадьевич, автор
  • Библиографическое описание на языке оригинала V.G. Volkov Development and research of the Mathematical Model of Planar Motion of a Vehicle with a Semitrailer / Volkov V.G., Demyanov D.N., Karabtsev V.S.
    Аннотация On horizontal nondeformable ground, we consider the movement of a road train consisting of a biaxial tractor car and triaxial semitrailer treated as solid bodies. Based on the Lagrange?s equations of the second kind, we develop a nonlinear mathematical model of its plane motion, using the position of the fifth-wheel coupling and rotating angles of the tractor and semitrailer body as generalized coordinates. We analyze and linearize the constructed system of equations and obtain a linear mathematical model describing the small lateral displacements and rotations of the elements of a road train when it is moving at a high longitudinal speed, small jackknifing angle, and small rotation angle of the steering wheels. Using the equivalent transformations of the obtained system of equations, we construct a state-space linear model of the lateral motion of the road train. A comparative analysis of the use of linear and nonlinear models to describe the road train?s motion, carrying out standard
    Ключевые слова road train, planar motion, Lagrange's equations of the second kind, nonlinear model, lateral motion, linear model analysis
    Место издания Moscow
    Название журнала Mathematical Models and Computer Simulations
    Издательство Pleiades Publishing
    URL https://link.springer.com/article/10.1134/S2070048218010131?wt_mc=Internal.Event.1.SEM.ArticleAuthorOnlineFirst
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