S.V. Tarasova, V.A. Shakhov, Ye. M. Asmankin, V.V. Reime
E-mail: saria2012mail.ru
Summary. When a wheel car is driven downhill its total transverse slope displacement is formed of the down shift caused by slip angles of the tractor because of its inadequate turnability and slip magnitude lck which is connected with soil layer destruction. To substantiate theoretically the compensation of the transverse slope displacement of the vehicle, its turnability on the plane, in the process of which there develops a centrifugal force creating the side slip angles in pneumatic tires, has been considered. The similar phenomenon is being observed when driving the car on a slope, where the role of the centrifugal force is performed by the gravity force component, under the condition that the turn is being realized around the circumference of an infinitely large radius, which actually is the technological trajectory. When due to specific design the running part of the vehicle is of excess turnability, the center of its turn is located above the slope and as result an upward turn is performed which contributes to the compensation for the transverse displacement being due to the slip. In this connection the analytical condition for stabilization of the tractor unit on the technological trajectory is being considered from the viewpoint of equality of the machine offset being the result of sliding down and the offset of the vehicle in the upslope direction caused by excessive turnability, which is formulated by the expression of functional components: slip angles of front tires and rear wheels δ1; δ2; longitudinal machine base AC and the coordinate of the gravity center B. The above approach is considered to be the basis of developing an algorithm of the proposed methods of theoretical study on the influence of the angles of wheels side slip on the transverse displacement of the machine as it moves along an inclined support surface. It is a prerequisite for a new type of movement and for development of a mathematical model of trajectorial stability of a traction vehicle under the conditions of hillside farming.
Keywords: side slip angle, tractor, wheeled vehicle, technological corridor, stability, the slip process, movement trajectory.