Spatial model of the unsprung wheeled machine’s dynamic system

• Autorzy: Chwastek S.

Identyfikatory

DOI

10.5604/12314005.1133864

• Języki publikacji: EN

Abstrakty

EN

Mobile heavy machines as unsprung vehicles exhibit low dissipation ability, hence the ride even at low speeds may give rise to intensive vertical and angular vibration. Vibrations thus produced are mostly in the low-frequency range and hence energy dissipation in tires will reduce the vibration intensity in a minor degree only. Particularly dangerous situations occur when the road wheels break away from the road surface due to the ’galloping’ effect. Kinematic excitation acting on the wheels is mostly uncorrelated stochastic (random) processes, giving rise to the "snake meandering" effect. That implies a major restriction on the ride velocity, which negatively affects the machine performance. The motion of tired wheels will always involve certain slipping. While investigating the feasibility of increasing the efficiency of the vibration reduction systems, one ought to take into account the variable adhesion of road wheels due to different dynamic loading acting on the vehicle axles during the ride. This study investigates the motion of unsprung mobile machines, taking into account the dynamic processes in the driving system under the conditions of the variable adhesion of road wheels. The model of interaction between a tired wheel and the terrain takes into account the relationship between the road wheel adhesion factor and the slipping action, as well as the impacts of the differential gear on distribution of drive torque. The 3D (spatial) model of a backhoe loader is considered. It is a two-axle self-propelled machine on a wheeled chassis. The mathematical model constitutes nonlinear and non-stationary differential equations of motion. Their stability is therefore associated with vibration intensity. Simulations in the time domain were supported by Matlab-Simulink. The purpose of this study is to improve the safety features during the ride of mobile heavy machines, basing on the parametric optimization of the model.

Słowa kluczowe

EN

spatial model; dynamic system; mobile heavy machines; unsprung vehicles; "galloping" effect; "snake meandering” effect; adhesion factor; slipping action; vibration; differential gear

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2014
• Tom: Vol. 21, No. 2
• Strony: 45--52
• Opis fizyczny: Bibliogr. 8 poz., rys.

Twórcy

autor

Chwastek S.

• Krakow University of Technology, Institute of Machine Design Jana Pawła II Av. 37, 31-864 Kraków, Poland tel: [phone], fax: [phone]

Bibliografia

• [1] Andrzejewski, R., Awrejcewicz, J., Nonlinear Dynamics of a Wheeled Vehicle, Springer Science+Business Media, Inc., 2005.
• [2] Chwastek, S., Modal stability control of a wheeled heavy machine, Applied Mechanics and Materials, Vol. 477-479, pp. 69-72, doi:10.4028, 2014.
• [3] Craig, J., Introduction to robotics: mechanics and control, Addison-Wesley Publishing Inc.,Massachusetts USA 1989.
• [4] Grzegożek, W., Modelowanie dynamiki samochodu przy stabilizującym sterowaniu silami hamowania, Monografia 275. Wydawnictwo Politechniki Krakowskiej, Kraków 2000.
• [5] Mitschke, M., Wallentowitz, H., Dynamik der Kraftfahrzeuge, Springer, 2004.
• [6] Prochowski, L., Mechanika ruchu. Pojazdy samochodowe, WKŁ Warszawa 2005.
• [7] Sorniotti, A., Vigiliani, A, Numerical models for tyres simulation, AITC-AIT 2006, International Conference on Tribology, Parma, Italy 2006.
• [8] Tsiotras, P., Velenis, E., Sorine, M., LuGre, A, Tire Friction Model with Exact Aggregate Dynamics, Proceeding of the American Control Conference Boston, Massachusetts 2004.