MATHEMATICAL MODELING OF THE LATERAL SLIDING OF A WHEELED VEHICLE WHEN TURNING

The condition for the occurrence of lateral sliding of a wheeled vehicle when turning is determined. Analytical dependences are presented to determine the radius of rotation of the center of gravity of the machine as a function of time, heading angle, acceleration and speed of lateral sliding, and lateral withdrawal of the machine. A mathematical model of the lateral sliding of a wheeled vehicle when turning in the SimInTech program has been developed. A simulation of the lateral sliding of a wheeled vehicle when turning 180 degrees was performed, using the example of the Belarus-80.1 tractor. It shows that the withdrawal of the car in the lateral direction begins at the end of the section of the entrance to the turn, when the radius of rotation of the center of gravity of the car has significantly decreased, but due to the still small values of acceleration and the speed of lateral sliding, the withdrawal in this section is not significant (for the example considered less than 1 cm). In the repartitions of the section of steady rotation (with a constant radius of rotation of the center of gravity of the machine), the acceleration of lateral sliding is constant, but the speed of lateral sliding increases and, accordingly, the withdrawal of the machine in the lateral direction increases (for the example under consideration up to 43 cm). At the beginning of the exit section of the turn, with an insignificant increase in the radius of rotation of the center of gravity of the machine, the acceleration of the side slide decreases, but the speed of the side slide continues to increase until the acceleration of the side slide becomes equal to 0. As the machine moves in the exit section of the turn, the radius of rotation of the center of gravity of the machine increases, the acceleration of the side slide will be negative and directed in the opposite direction from the direction of the side slide speed, the latter decreases, but the withdrawal of the machine in the side direction continues, reaching a maximum value (for the example considered 1.12 m) at a side slide speed equal to 0.