Open AccessComputation of Vehicle Motion Path upon Entering Turn
Author(s) -
A. N. Belyaev,
Vyacheslav Gennadievich Kozlov,
Irina A. Vysotskaya,
Tatyana V. Trishina
Publication year - 2019
Publication title -
international journal of engineering and advanced technology
Language(s) - English
Resource type - Journals
ISSN - 2249-8958
DOI - 10.35940/ijeat.a1776.109119
Subject(s) - turning radius , curvilinear coordinates , parametric equation , radius , kinematics , turn (biochemistry) , motion (physics) , trajectory , path (computing) , rotation (mathematics) , geometry , mathematics , classical mechanics , physics , engineering , computer science , mechanical engineering , computer security , nuclear magnetic resonance , astronomy , programming language
Curvilinear motion of a vehicle as a part of assembly which takes place mainly on headlands is the most complicated element of its kinematics. Turns are carried out with gradual transition from infinitely large to minimum radius (upon transition from straight motion to motion along simple curve) and from minimum to infinitely large radius (upon transition from motion along simple curve to straight motion). Herewith, curvilinear motion along path of variable radius (upon entering turn and coming out of turn) is a significant portion (quite often more than one half) of all motion of the assembly on the curve. This article presents the procedure of derivation of parametric equations for analytical prediction of theoretical coordinates of motion points of tractor kinematic center upon entering turns. This procedure is based on universal equation for determination of theoretical minimum turning radius of wheeled vehicle. The proposed equations make it possible to determine theoretical path of entering turn of vehicle depending on the following variables: engineering parameters such as base, distance between kingpins, maximum turn angles of internal steered wheels, and operating parameters such as vehicle forward speed, angular turning speed of steered wheels in transverse plane; and to select reasonable properties on this basis.