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# Gorelov

Simulation Modeling of Wheeled Vehicle Dynamics on the Stand "Roller"
Engineering Education # 04, April 2014
DOI: 10.7463/0414.0707918
The article substantiates an urgency to develop the theoretically grounded techniques for the bench tests of automotive engineering. It introduces a new principle to simulate the load operating conditions with moving wheeled vehicle in outdoor environment at the bench «Roller. A mathematical model of wheeled vehicle dynamics both at the bench and on the road has been developed. The mathematical simulation allows us to conduct the theoretical researches of straight-line dynamics of a single wheel on the hard non-deformable support base with different characteristics. The results of mathematical simulation proved the efficiency of the proposed approach and the created mathematical model. Further research trends based on this principle are justified.
Forecasting performance of curvilinear motion in multi wheeled vehicles for different all-wheel steering laws
Engineering Education # 05, May 2012
DOI: 10.7463/0512.0403845
The article presents information about creating systems of all-wheel steering (AWS) for different types of vehicles. The authors give a detailed description of the known laws of all-wheel steering, and also present the original law obtained on the basis of theoretical and experimental studies. The authors present a mathematical model of a wheeled machine that predicted characteristics of curvilinear motion with different variants of steering system. The solution to the problem of evaluating the effectiveness of AWS laws was considered by the example of a vehicle with the  8 × 8 wheel forumla and 1-2-3-4 steering. The technique of computational experiments, corresponding to the CMP field testing of vehicles, as well as the results of numerical simulations, is presented in the article. Basing on the analysis of data, they proved feasibility of the developed AWS law for vehicles of various types and purposes.
Evaluating the effectiveness of control laws for individual drive wheeled propulsion systems
Engineering Education # 06, June 2012
DOI: 10.7463/0612.0403852
The authors present the results of theoretical studies of motion of a wheel transport system with individual power distribution to the wheels with the developed control laws for electromechanical transmission, basing on the principle of redistribution of moments proportional to the relative normal load to be carried by each propeller. The authors studied two versions of the law controlling traction electric motors: "torque" and "the degree of the total power." Advantages of the "degree of use of the total power" approach are proved by the results of mathematical simulation of transport complex movement with the  8 × 8 wheel forumla on the rigid support base for the following cases: ascent, curvilinear motion with a fixed radius, rectilinear acceleration with different intensity effects on the controls (accelerator pedal).
77-30569/343394 Mathematical motion simulation of multi-link wheeled transport complexes subject to coupling devices
Engineering Education # 02, February 2012
The author presents an approach to development of mathematical models of multi wheeled traffic systems and justifies the urgency of forecasting service properties of complexes at the design stage in order to improve the construction. The author gives a detailed account of the mathematical model of curvilinear motion of a two-link road-train; special attention is paid to the mathematical model of the link articulator. The author considers the principle of transport system simulation subject to the design features of the drawbar. Design diagrams for creating mathematical models of multi-tier transport systems are presented by the example of a three-link road-train subject to the number of wheels in the roller module of the level trailer. The author describes the principle of forecasting road-train dynamics based on using the mathematical model represented by rectilinear motion of two-link road-train off-the-road. The results of benchmark computing experiments as the visualization of movement of transport complexes are included in the article.
77-30569/330258 Results of numerical simulation of rectilinear motion of two-component wheeled transport system on deformable rock mantle
Engineering Education # 01, January 2012
Some ways to improve the passability of multi-component wheeled transport systems were presented. Urgency of the development of mathematical apparatus for conduction of theoretical studies of rectilinear dynamics of various road-trains at the design stage with different characteristics of hitch mechanisms and in case of separate component movement. The results of mathematical simulation of two-component wheeled transport system’s dynamics on rock mantle for the following cases: combined component movement with different characterisrics of hitch mechanism and separate movement of passive trailed unit by means of auxiliary in case of different character of draft force application. Conclusions about conducted theoretical studies of transport system’s dynamics were generalized.
77-30569/282533 Synthesis of control traction motor for individual drive wheeled vehicle
Engineering Education # 12, December 2011
The authors give a detailed description of car electromechanical transmission control at the individual distribution of power in the wheels, the main essence of which is proportional to the relative distribution of the normal load to be carried by the wheel. The law is adapted for two versions of drive control: "angular velocity" and "torque". Effectiveness of the law is proved by the results of mathematical simulation of car motion with 8×8 wheel formula on the basis of non-deformable reference to two cases: upgrading (with “angular velocity” control) and curvilinear motion with a fixed radius (with “torque” control). The directions of future research is the need to study car movement with the proposed transmission control in a wide range of external influences ("mixed doubles" motion, acceleration, motion on a deformable substructure, etc.), and also in comparison with the results of movement with traditional transmission patterns.
Researches of interaction of the pneumatic wheel with ultralow pressure and the snow roadbed
Engineering Education # 08, August 2011
In this paper the question of interaction of pneumatic extra-low pressure tires with snow is considered. The simulation model of contact interaction of pneumatic extra-low pressure tires with snow is presented. The model is realized by means of numerical computing environment MATLAB. Comparison of the settlement data with the data of experimental researches for the vehicle "Viking"-2992 on tires 1300х600-533 models "Trekol" is made. The analysis of parameters of wheel-terrain interaction of the off-road vehicles is carried out. The interaction parameters are received in mathematical dependence on air internal tires pressure in taking into account known physico-mechanical parameters of snow.

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