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A Development of the Distributive Law of Points on the Multi-Wheeled Machine Wheels with Electro-Mechanical Transmission, Made Under the Scheme "Motor-Axis"
Engineering Education # 05, May 2014
DOI: 10.7463/0514.0705516
Currently, developers of multi-wheeled vehicles (MWV) show growing interest in an electro-mechanical drive in the «motor-axis»implementation. However, in designing such types of traction electric drive (TED) the problems arise, mainly, from a lack of creating experience and of ready algorithmic solutions to control the traction motors. Methods for implementing the individual TED cannot be used because of the cross-axle differential available in the leading axle drive, which does not enable the input torque control of each wheel singly. The paper offers a law to control a traction electric drive of MWV leading axles that includes the law to control the traction and braking torques on the leading axles as well as algorithms of anti-lock brake and traction control systems.Simulation methods of mathematical modeling have proven efficiency and effectiveness of the proposed control law, when performing MWV maneuvers. Research results can be useful for companies in automotive industry, which, first of all, deal with design and manufacturing of special multi-wheeled vehicles of various classes and purposes, as well as for institutions, which develop control systems for wheeled transport equipment.
Algorithm of Dynamic Stabilization System for a Car 4x4 with a Link Rear Axle
Engineering Education # 04, April 2014
DOI: 10.7463/0414.0704685
Exploring the development trends of the modern automobile, you can see that manufacturers are constantly improving a control level of parameters of wheeled vehicles motion, achieving the maximum level of car stability and controllability. The slow development of similar systems in the Russian automotive industry is the cause of the lack of research in the field of power-distribution under specific driving conditions, typical for the automobile all-wheel drive vehicles. The purpose of work is a development of methods to control the curvilinear motion hire 4x4 with a link to the rear axle, providing the increase of stabilization and tracking stability of the car. The paper presents developed algorithms of torque redistribution between driving axles and wheels of a car 4x4 with the torque redistribution between the driving axles  in the range of 100:0 - 0:100 and 100:0 - 50:50 and with the torque redistribution between the wheels of the rear axle in the range of 0:100, ensuring the stabilization and tracking stability of the car. The paper offers a criterion for system operation to have dynamic stability of the wheel vehicle motion. It also presents analysis to compare the efficiency of different algorithm combinations for motion stabilization of cars with a link to rear axle.
Development of an adaptive relay control law for damped suspension of multi-wheeled vehicles in order to prevent linear-angular fluctuations in the housing
Engineering Education # 08, August 2013
DOI: 10.7463/0813.0567732
The required level of damping a multiple-seated oscillatory system, as it is known, depends on the nature of the external impact. In this case, regulation of damping characteristics depending on the operation mode of depreciation systems is one of the main directions of further improvements. Increasing the quality of primary control systems for suspension of multi-wheeled vehicles with the number of axes more than three appears to be very promising. An adaptive relay control law for damped suspension of multi-wheeled vehicles was developed in order to prevent linear-angular fluctuations in the housing. Methods of simulation modeling were used to determine that efficiency (reduction of variance of vertical accelerations at the driver's place compared to the unmanageable suspension) of the adaptive law of counteraction to linear-angular fluctuations is 7...22%. Introduction of an adaptive component increases efficiency of the algorithm by 5...10% compared to the non-adaptive law.
Development of an adaptive law of relay control of three-level damping of elastic damping elements of multi-wheeled vehicles’ suspension
Engineering Education # 09, September 2013
DOI: 10.7463/0913.0567756
The required level of damping a multisupporting oscillatory system, as it is known, depends on the nature of the external impact. In this case, regulation of damping characteristics depending on the operation mode of depreciation systems is one of the main directions of further improvements. Direction of increasing the quality of primary control systems for suspension of multi-wheeled vehicles (MWV) with the number of axes more than three appears to be very promising. A mathematical model and calculation methodology of design parameters of a pneumohydraulic cushion with backpressure and three-level damping for controlled suspensions of multi-axis chassis were developed. An example of calculation of a cushion for MWV suspension with a 8x8 wheel formula and total mass of 60 tons is given. The adaptive law of relay control of MWV suspension system, namely the “inertial damper” adaptive law, was developed with the use of fuzzy logic methods.
Development of a continuous control law for a semi-active suspension system with a fuzzy configuration of parameters
Engineering Education # 07, July 2013
DOI: 10.7463/0713.0567714
Creation of means of effective protection from external dynamic effects has always been one of the most important problems of modern equipment. The aim of this work is to increase smooth running of multi-wheeled vehicles using an adaptive control of elastic-damping elements of the suspension system. On the basis of application of methods of fuzzy logic, adaptive laws of a continuous suspension control system of multi-wheeled vehicles, namely the “inertial damper” adaptive law and the adaptive law of the counteraction of a linear-angular fluctuations, were developed. Methods of simulation modeling were used to determine that efficiency (reduction of the variance of the vertical accelerations at the driver's place compared to the unmanageable adaptive suspension) of the “inertial damper” law is 7...20%; one of the laws of counteraction of linear-angular fluctuations - 0...13%.
Development of the law of stabilization of housing of multi-wheeled vehicles with force and kinematic effects on the basis of a proportional differential controller with adaptive adjustment of parameters
Engineering Education # 06, June 2013
DOI: 10.7463/0613.0567697
One of the promising ways to solve the problems of improving smoothness of motion of multi-wheeled vehicles (MWV) is development of suspension control systems to ensure stabilization of the MWV’s housing under different influences. On the basis of application of methods of fuzzy logic an adaptive proportional differential law of continuous MWV suspension control was developed. Methods of simulation modeling were used to analyze efficiency of the developed control law for active and semi-active suspension systems. It was shown that the proposed adaptive proportional differential law for semi-active suspension system could be considered more preferable for practical application in MWV suspensions in comparison with the similar law for active suspension systems due to their similar efficiency and lower energy costs.
Procedure of choosing an optimal circuit decision in fuzzy conditions on the basis of multi-criteria analysis of alternatives with equilibrium and non-equilibrium criteria
Engineering Education # 12, December 2012
DOI: 10.7463/1212.0465867
One of the most important stages during formation of technical characteristics of a new vehicle is carrying out engineering analysis of the product, formation of circuit design which meets obtained values of influential parameters, realization of the draft design. Under these conditions, decision-making means choosing an alternative which simultaneously meets both fuzzy objectives and fuzzy constraints. The authors of the article developed a method of choosing an optimal circuit design which is characterized by selection in fuzzy conditions on the basis of a multi-criteria analysis of alternatives in equilibrium and non-equilibrium criteria according to the Bellman-Zadeh scheme. The analysis of design maps of possible realization of extra-light high Doppler wheeled vehicles for mountain operational conditions on the basis of domestic production units was carried out by the methods of fuzzy multi-criteria analysis and allowed to choose an optimal circuit design.
77-30569/347783 Comparative performance analysis of continuous and relay control systems for the suspension bracket of multi-wheeled vehicles
Engineering Education # 03, March 2012
In the contemporary world motor industry due to the increase in operational speeds and use of pneumatic and hydro-pneumatic suspension brackets there is a tendency to a wider distribution of adjustable and operated suspension systems. Many factors influence the functionality and quality of controlling the suspension bracket: they are accuracy of measurement and transfer of parameters used for calculation of control; accuracy of working off the control by executive powers; system speed, i.e. the time passing from the moment of gauging of parameters till the moment of control realization. The author proposes a performance test of continuous and relay control systems for a suspension bracket of multi-wheeled vehicles. A comparative estimation of efficiency of the specified control systems was carried out, and optimum areas of applicability of both algorithms were specified
77-30569/347098 Static algorithm of control of a suspension bracket of multi-wheeled vehicles: the automated overcoming of the trench
Engineering Education # 09, September 2011
Increasing of requirements on average speeds of movement, under all other equal conditions, demands permanent improvement of suspension system of multi-wheeled vehicles (MWV), suspension bracket creation as a difficult mechatronic system. The traditional design of a suspension bracket of wheels can't resolve the contradiction set in the technical project on the MWV – maintenance of high average speeds of movement on road and district and mobility in the case of overcoming of large individual roughnesses. The algorithm of the automated overcoming of the trench was developed, not only allowing to reduce loadings on bearing system of the MWV and corners of a longitudinal list of the case, but also to increase the width of an overcome trench at invariable quantities-dimensional characteristics of the chassis. The results of simulation allowing to visualize the process of moving across the trench by wheel car 8х8 were included in the article.
77-30569/347435 Synthesis of adaptive dynamic continuous system of stabilization of the case of multi-wheeled vehicles
Engineering Education # 11, November 2011
In our days suspension systems of modern multi-wheeled vehicles (MWV) are facing a wide range of inconsistent requirements: maintenance of high smoothness of a course; maintenance of high indicators of profile passableness; dynamic stabilization of the frame of the MWV during individual external influences; increase of the movement stability. Algorithms of management should be developed during the stage of the development of the MWV suspension control system, which provide a principle of separate management, i.e. performance of each of the algorithms of management should be carried out in a certain range of system phase coordinates. Author develops adaptive algorithm of dynamic stabilization of the frame of the MWV, which allows to provide a high indicators of stability of the frame under external influences connected with turning, braking, coming over an individual roughnesses. Thus not only stability and traffic safety of the MWV is increased, but also working conditions of the driver is improved. The technique of synthesis of the adaptive dynamic continuous law of stabilization of the case of the MWV was described in this article, and also the results of the simulation confirming high efficiency of developed algorithm of management were included.
77-30569/347169 Synthesis of adaptive dynamic continuous system of oscillation damping of the case of multi-wheeled vehicles
Engineering Education # 10, October 2011
The requirement of increase in mobility of wheel technics at movement on all variety of kinds of the basic basis causes necessity of development of large quantity of specialized algorithms of management of suspension systems of multi-wheeled vehicles (MWV) raising such operational qualities as smoothness of a course, controllability, stability. The author developed adaptive algorithm of dynamic oscillation damping of the case of the MWV, which allowed to provide high indicators of smoothness of a course and mobility of the car. In this article the technique of synthesis of the adaptive dynamic continuous law of oscillation damping of the case of the MWV was described, and also the results of the simulation confirming high efficiency of developed algorithm of management were included.
77-30569/347444 Development of adaptive algorithm of relay management by a two-level damping of a suspension bracket of multi-wheeled vehicles
Engineering Education # 12, December 2011
Now in the Russian army and in the national economy of Russia a considerable quantity of cars with number of axes four and more is used. Operating experience of these cars showed that the problem of increase of mobility of these cars at the expense of decrease vibration crew and transported cargo was urgent. One of directions of improvement of the given property is management of damping in a suspension bracket by compulsory change of factor of damping. Developed algorithm of management of two-level damping of a suspension bracket multi-wheeled vehicles allows to decrease essentially the level of fluctuations of the case of the cars and to raise their speed on dirt roads. The algorithm is simple in implementation, provides fast reaction of suspension system on changing road conditions and doesn't demand high-speed executive powers of a suspension bracket that positively affects their durability. On the basis of the analysis of the results of modeling for various traffic conditions of the car with the wheel formula 8x8 the conclusion about the efficiency of the developed algorithm was made.
77-30569/347058 Static algorithm of control of a suspension bracket of multi-wheeled vehicles: the automated overcoming of the escarp
Engineering Education # 08, August 2011
Increasing of requirements on average speeds of movement, under all other equal conditions, demands permanent improvement of suspension system of multi-wheeled vehicles (MWV), suspension bracket creation as a difficult mechatronic system. The traditional design of a suspension bracket of wheels can't resolve the contradiction set in the technical project on the MWV – maintenance of high average speeds of movement on road and district and mobility in the case of overcoming of large individual roughnesses. The algorithm of the automated overcoming of the escarp was developed, allowing to reduce loadings on bearing system of the MWV and corners of a longitudinal list of the case that promoted traffic safety increase. The results of simulation allowing to visualize the process of moving across the escarp by wheel car 8х8 were included in the article.
77-30569/346660 Design procedure of characteristics of a pneumo-hydraulic operated suspension bracket with a two-level damping of multi-wheeled vehicles
Engineering Education # 01, January 2012
Required level of a damping of multi-basic oscillatory system depends on character of external indignation. In connection with this, regulation of the characteristic of damping, depending on operating modes of amortization systems, is one of the basic directions of their further improvement. This direction for improvement of quality of suspension systems of multi-wheeled vehicles (MWV) with quantity of axes more than three is rather perspective. Mathematical model and design procedure of design parameters of a pneumo-hydraulic spring with counter-pressure and two-level damping were developed for operated suspension brackets of MWV. The example of calculation of spring for suspension bracket of the MWV with the wheel formula 8x8 in the lump of 60 tons was included in this article.
77-30569/346642 Experimental research of loading characteristics of a two-chamber pneumo-hydraulic spring of a suspension bracket of new generation automobile platforms of average and big load-carrying capacities
Engineering Education # 12, December 2011
Along with widely used theoretical methods of research of internal dynamics with use of imitating mathematical simulation, only natural tests can provide the final conclusion about working capacity of a design and correctness of a choice of options. Natural tests also allow to verify imitating mathematical models that is to estimate their adequacy and accuracy. The mathematical model of a two-volume pneumo-hydraulic spring (PHS) suspension brackets of new generation automobile platforms of average and big load-carrying capacity was developed. Benchmark tests of the natural sample of such PHS to check the adequacy of the developed model and research of behavior of a design were conducted at various kinds of loading. It was shown that the mathematical model described the processes, proceeding in a design two-volume PHS, precisely enough.
77-30569/293578 Technique of selection of characteristics of controlled suspension bracket with two levels of damping multi-wheeled vehicles
Engineering Education # 02, February 2012
The required level of damping a multi-basic oscillatory system depends on the character of external disturbance. In connection with this, regulation of the characteristics of damping, depending on operating modes of amortization systems, is one of the basic directions of their further improvement. This direction for improving the quality of suspension systems in multi-wheeled vehicles (MWV) with the quantity of axes more than three is fairly promising. The authors show that for multi-wheeled vehicles, due to a narrow-band low-frequency spectrum of fluctuations of the case, the characteristics of damping which provides automatic reception in the zone of resonance of attenuation factor nearly 
ψ =0,4 … 0,6 on longitudinal-angular and vertical fluctuations irrespective of the weight of object and change of restoring force, was desirable. At the same time in the above-resonance zone, the damping level should be reduced, which leads to a significant decrease of vibro-load of the MWV. This leads to the necessity of creation of a suspension bracket of variable structure where there is an automatic change of the damping level depending on the kind of road roughness impact on the MWV. Two levels are enough: the basic (high), and low which joins only in the case of high-frequency road profile influence. The design procedure of elastic and damping characteristics of a suspension bracket with two-level damping was developed. The example of calculation for the MWV with the wheel formula 8x8 in the lump of 60 tons was included in this article.
 
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