Rostov-na-Donu, Rostov-on-Don, Russian Federation
As the subject of work, are mathematical mod-els that reflect the dynamics of vertical move-ment of the vehicle, taking into ac-count the nonlinear transformation of the angular motion of the wheel in the forward movement of the center of mass of the wheel, the contact wheel and the road. The article provides a synthesis of models, reflecting the dynamics of vertical os-cillations of the vehicle. The difference of the present model from existing consists in taking into account the dynamics of angular motion, resulting in a model associated with the state coordinates the angular motion of the wheel. The aim of this work was to increase the effec-tiveness of the management of modern vehi-cles, so in addition to the synthesis model, the ex-ample analysis of the dynamics of a specific vehicle which was organized by the contempo-rary pas-passenger electric locomo-tive EP. The output of the analysis phase portraits reflecting the dynamics of the vertical motion of the cen-ter of mass of the wheel and the phase portrait, reflecting the dynamics of vertical oscillations of the body. In General, the obtained results allow to make infer-ence about the connectivity of the dynamics of verti-cal and angular move-ment in the TRANS-tailor the tool and, as a consequence, the effect of the rate of angular movement in the area of wheel contact with the road (rail). As the field of applica-tion of the results, see the synthesis of control systems of vehi-cles, taking into account the revealed relat-edness.
vehicle dynamics, ground contact, vertical vibrations of the vehicle.
Введение. В настоящее время довольно остро стоит проблема удешевления железнодорожных и автотранспортных
перевозок. Существенно сократить издержки в этой сфере позволит проектирование современных систем автоматиче-ского управления транспортными средствами, в контуре управления которыми нет человека. Для современных слож-ных динамических транспортных систем принципиальное значение приобретают вопросы построения моделей, опи-сывающих контактное взаимодействие колеса и дороги в координатах состояния системы управления [1–5]. Для син-теза систем управления транспортным средством необходимо решить ряд проблем — в частности, проблему учет влияния динамики вертикальных колебаний центров масс транспортного средства на тяговые и скоростные характе-ристики процесса управления.
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