KFU. Card publication. Development and research of the Mathematical Model of Planar Motion of a Vehicle with a Semitrailer

KAZAN
FEDERAL UNIVERSITY

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

Form of presentation

Articles in international journals and collections

Year of publication

2018

Authors, employees of KFU

Karabcev Vladimir Sergeevich, author

Authors, postgraduates KFU

Volkov Vasiliy Gennadevich, postgraduate kfu

Bibliographic description in the original language

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.

Annotation

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

Keywords

road train, planar motion, Lagrange's equations of the second kind, nonlinear model, lateral motion, linear model analysis

Place of publication

Moscow

The name of the journal

Mathematical Models and Computer Simulations

Publishing house

Pleiades Publishing

URL

https://link.springer.com/article/10.1134/S2070048218010131?wt_mc=Internal.Event.1.SEM.ArticleAuthorOnlineFirst

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=175549&p_lang=2

Full metadata record

Field DC	Value	Language
dc.contributor.author	Karabcev Vladimir Sergeevich	ru_RU
dc.contributor.author	Volkov Vasiliy Gennadevich	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/eng/?p_id=175549&p_lang=2	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	Articles in international journals and collections	ru_RU