Dynamics Modeling and Stability Analysis of Cooperatively Towing Articulated Heavy-duty Vehicle System

doi:10.3901/JME.2025.22.133

Abstract

Abstract: As a new type of heavy-duty equipment for large cargo transportation, the cooperative traction articulated heavy-duty vehicle（CTA-HDV） is composed of a front and a rear traction unit connected to the cargo through an articulated device. Compared with traditional heavy-duty vehicles, its modeling and stability analysis are more difficult. A dynamic modeling method and stability analysis scheme for CTA-HDV system in the horizontal plane is proposed. In terms of system modeling, based on kinematic and dynamic analysis, the dynamic coupling relationship at each articulated point is analyzed, and a 4-degree-of-freedom single-track model of the cooperative traction articulated vehicle is established. In terms of stability analysis, first, the handling stability of CTA-HDV system is analyzed by independently defining the understeering gradient of traction unit 1 and traction unit 2. The influence of vehicle parameters on the understeering gradient of the CTA-HDV system is studied. The results show that the relative position of the center of mass of traction unit 1 and the relative position of the articulated point between traction unit 1 and the intermediate rigid body have the greatest influence on the understeering gradient of the system. When is adjusted from 0.3 to 0.6, the understeering gradient of the system decreases by approximately 79%. When is adjusted from 0.6 to 1.2, the understeering gradient of the system increases by approximately 86%. Secondly, combined with the dynamic stability analysis method of articulated vehicles, the dynamic critical speed of the CTA-HDV system is studied, and it is found that the dynamic critical speed of the CTA-HDV system is around 100 km/h. The influence of structural parameters on the dynamic stability of the system is also analyzed. This study provides a theoretical basis for the safety design of the CTA-HDV system.

Key words: articulated vehicle, heavy-duty vehicle, cooperatively towing, static stability, dynamic stability

CLC Number:

U461

ZHANG Ning, WANG Haotan, ZHANG Qianchen, SHAO Liang, WANG Cheng, LI Pu, YIN Guodong. Dynamics Modeling and Stability Analysis of Cooperatively Towing Articulated Heavy-duty Vehicle System[J]. Journal of Mechanical Engineering, 2025, 61(22): 133-142.

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