КФУ. Карточка публикации. Development and research of the Mathematical Model of Planar Motion of a Vehicle with a Semitrailer

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DEVELOPMENT AND RESEARCH OF THE MATHEMATICAL MODEL OF PLANAR MOTION OF A VEHICLE WITH A SEMITRAILER

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2018

Авторы, сотрудники КФУ

Карабцев Владимир Сергеевич, автор

Авторы, аспиранты КФУ

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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https://repository.kpfu.ru/?p_id=175549

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Карабцев Владимир Сергеевич	ru_RU
dc.contributor.author	Волков Василий Геннадьевич	ru_RU
dc.date.accessioned	2018-01-01T00:00:00Z	ru_RU
dc.date.available	2018-01-01T00:00:00Z	ru_RU
dc.date.issued	2018	ru_RU
dc.identifier.citation	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.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=175549	ru_RU
dc.description.abstract	Mathematical Models and Computer Simulations	ru_RU
dc.description.abstract	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	ru_RU
dc.language.iso	ru	ru_RU
dc.publisher	Pleiades Publishing	ru_RU
dc.subject	road train	ru_RU
dc.subject	planar motion	ru_RU
dc.subject	Lagrange's equations of the second kind	ru_RU
dc.subject	nonlinear model	ru_RU
dc.subject	lateral motion	ru_RU
dc.subject	linear model analysis	ru_RU
dc.title	Development and research of the Mathematical Model of Planar Motion of a Vehicle with a Semitrailer	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU