Control algorithm for a semi-trailer wheel drive for the kinematic coordination of articulated vehicle links during maneuvering
Authors: Gorelov V.A., Komissarov A.I., Padalkin B.V., Chudakov O.I.
Published in issue: #12(168)/2025
Category: Aviation and Rocket-Space Engineering | Chapter: Ground transport and technological means and complexes
The paper presents research results of the influence of an active semi-trailer on the dynamics of an articulated road train intended for operation in the conditions of the Arctic and the Russian Far North. The results of developing a control algorithm for the electric drive of an active semi-trailer, which is part of the “Arctic Road Train”, are considered. The semi-trailer is equipped with an autonomous hybrid power plant and an electromechanical transmission, which makes it possible to increase the adhesive weight and overall traction force without significant changes to the design of the serial tractor unit. An algorithm for controlling the semi-trailer wheel drive (SCWD – Semi-trailer Control Wheel Drive) depending on the articulation angle of the road train is proposed. A mathematical model of curvilinear motion implemented in the MATLAB Simulink environment was used to analyze the dynamics of the active road train. Within the framework of virtual tests, a comparison of three variants of the road train's transmission was carried out: a passive semi-trailer, an imitation of a locked connection between the wheels of the tractor and the semi-trailer, and the SCWD. The research confirms the effectiveness of the proposed control algorithm.
EDN GACIYD
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