Mathematical modelling of the articulated wheeled machine motion with an elastic element in the connecting hinge

Abstract

The obtained dynamic model of the articulated wheeled tractor movement on irregularities takes into account the main design parameters that affect the position stability in the plane perpendicular to the support surface, as well as the characteristics of the support surface. To construct the equations of tractor sections motion, the Lagrange equation was used and, based on the design features of the articulated wheeled tractor, the number of assumptions were made to simplify the mathematical model. In this embodiment, the connecting joint of the tractor is a structure with an elastic element. The change in the angles of inclination of the generating irregularities of the surface under the articulated tractor sections wheels is given in the form of periodic functions. The angular velocities of the sections in the transverse plane perpendicular to the support surface are considered as a parameter of the dynamic position stability.

The presence of an elastic connection in the horizontal hinge affects the resistance against overturning and can be made in different designs. One such option is to use springs or spring that would redistribute the energy of the oscillations of the least stable front section to the more stable rear during the oscillations of the machine sections during the movement on the irregularities, while partially reducing this energy. In this way, the system will be more stable in terms of overturning and will ensure the absence of impact loads between the elements of the connecting hinge, increasing its reliability.

It is established that the presence of an elastic element in the horizontal hinge between the sections reduces the maximum values of the parameter of position stability – the angular velocities of the sections by 15-20%. This increases the dynamic stability of wheeled articulated machines.