Maslennikov

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.

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).