Mathematical Model of Linear Motion on the Deformable Supporting Surface of the Two-Link Road Train with an Active Semitrailer

The study presents a mathematical model of linear motion on the deformable supporting surface of the two-link road train as a part of the four-axle tractor with an individual drive and a three-axle semitrailer. To construct this model, we used an approach to the prediction of propulsion unit properties based on towing and power characteristics obtained during the experimental testing. In order to obtain power and towing characteristics, we focus on the methodology and testing facility for studying the interaction between the wheels and the supporting surface. Furthermore, we describe a method of using experimental characteristics in simulating the linear dynamics of the two-link semitrailer truck. The developed mathematical model of the four-axle tractor and three-axle semitrailer was implemented in the MATLAB® Simulink. We give the results of theoretical studies of road train uphill movements with different semitrailer wheel drives. Findings of the research show that one of the promising directions in developing all-wheel drive systems of the semitrailer truck is the synthesis of the law of rational control over semitrailer drive system, including the analysis of the power factors in the coupling device.

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