The algorithms used in the system of dynamic stabilization by changing the torque on the wheels in multiwheeled vehicles with controlled mechanical transmis-sion

The issues of stability and controllability of multi-wheeled vehicles (ΜWV) with controlled mechanical transmission (CMT) are currently relevant. The use of stability control systems in MWVs became possible with the advent of controlled units of mechanical transmission. In MWVs with mechanical transmissions a stabilizing effect due to the change of torque on the wheels can be achieved by braking individual wheels. The disadvantages of this method are, firstly, the need for an individual brake on each wheel, which increases its complexity and reduces reliability. Secondly, a significant intensification of the brake system operation leads to increased wear and overheating of the wheel brake mechanisms. The scheme and mathematical model of the controlled mechanical transmission for the 8x8 ΜWV was developed to ensure the redistribution of the torque between the axles as well as the drive wheels of the ΜWV. An algorithm for a dynamic stabilization system was proposed, which provides increased course and trajectory stability of the MWV with a controlled mechanical transmission when performing maneuvers. This algorithm differs from the other ones in that due to the change in torque on the drive wheels, a stabilizing roll moment acting on the MWV is created. Conducted using the simulation mathematical modelling, the theoretical studies of the ΜWV with a controlled mechanical transmission moving under various external conditions have led to the following conclusion: the proposed algorithm of torque distribution on the drive wheels is efficient and effective in all the investigated cases of motion. The results of the research can be used first and foremost by the enterprises of the automotive industry that specialize in design and manufacture of two-wheel vehicles of various classes and purposes. They can also be used by the enterprises that develop control systems for wheeled transport machines.

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