The paper gives theoretical justification of the ways to measure actual braking torque of the wheels with the bearing face for drum and disk brakes which are necessary for creating automated brake control systems for vehicles based on load design. The results of measurement of braking torque and lateral reaction effecting the wheels of VAZ-2108 while emergency braking («μ-split» surface) were obtained. New algorithms of braking control of vehicles which have been carried out in a model of automated control systems have been created on the basis of force factor change analysis. Test results have proved their efficiency. The paper presents methods of gaining new sources of information such as saddle-type articulated lorry segment interaction forces which make it possible to create braking control systems of articulated lorries ruling out folding of their parts at various modes of the vehicle motion. Prospects of electrical signal use which is proportionate to force factors (wheels-road contact force and force of interaction of the parts of the articulated lorry) for creating new on-board braking diagnostic systems and movement control stabilizing systems for vehicles at various motion modes (ESP systems on load design) are given in the paper.
In the work the mathematical model of movement of a saddle-type articulated lorry, based on use of the equations of nonholonomic constraints, allowing to solve of inverse problems of dynamics of movement of the lorry (definition of reactions of constraints of wheels with a bearing area and forces of interaction between lorry links) is presented. The results of modelling of movement of the lorry in transport and in brake modes of its movement on a curvilinear trajectory on PC are presented. The ways of representation of the results of modelling of movement of the lorry, which make it possible to estimate stability of its movement and algorithm of emergency braking control, excluding folding of its links are offered in the article.
The influence of motorcycle suspension rigidity and damping on the braking route, braking time and speedingup of deceleration is considered in the paper. Mathematical simulation of motorcycle braking was carried out to evaluate the influence of suspension parameters on the indices of braking efficiency. It has been found that the indices of braking efficiency are mostly influenced by the rigidity of the front and back suspension. The influence of the damping coefficients of the front and back suspensions on the indices of braking efficiency is not revealed.
The mathematical model of the MTZ wheel tractors dynamics, that took into consideration a link connection of the balancing front-axle beam with tractors body and the steering wheels suspension, is presented in the paper. The conclusions, based on the computer solving of the mathematical model, are given.
The circuit technique realization of the adaptive algorithm of the new electronic active safety system for a wheel vehicle on the force analysis is stated in the paper. This control algorithm was realized in the model-based sample and was preliminary tested.
