SU844443A1 - Method of controlling the turns of road train trailed vehicles - Google Patents
Method of controlling the turns of road train trailed vehicles Download PDFInfo
- Publication number
- SU844443A1 SU844443A1 SU792772970A SU2772970A SU844443A1 SU 844443 A1 SU844443 A1 SU 844443A1 SU 792772970 A SU792772970 A SU 792772970A SU 2772970 A SU2772970 A SU 2772970A SU 844443 A1 SU844443 A1 SU 844443A1
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- SU
- USSR - Soviet Union
- Prior art keywords
- wheels
- link
- rotation
- time
- angle
- Prior art date
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
1one
; Изобретение относитс к управлению прицепными звень ми автопоездов, преимущественно длиннобазных и многозвенных.; FIELD OF THE INVENTION The invention relates to the management of trailer links of road trains, preferably long-wheelbase and multi-link ones.
Известен способ управлени поворотом прицепных звеньев автопоезда, заключающийс в том, что определ ют угол поворота управл емых колес предшествующего звена и задерживают сигнал, пропорциональный углу поворота управл емых колес {.A known method of controlling the turn of the trailer links of a train, which consists in determining the angle of rotation of the steerable wheels of the previous link and delaying the signal proportional to the angle of rotation of the steered wheels.
Недостатком данного способа вл етс то, что он применим дл управлени колесами прицепов или независимых поворотных тележек, базы которых равны между собой. При неравенстве баз звеньев по вл ютс смещени колес на повороте, которые могут достигать значительной величины. The disadvantage of this method is that it is applicable to control the wheels of trailers or independent turntables, the bases of which are equal to each other. With the inequality of the bases of the links appear the displacement of the wheels on the turn, which can reach a significant value.
Целью насто щего изобретени вл етс повышение точности управлени путем повторени еповоротными колесами последующего звена траектории движени неповоротных колес предшествующего звена независимо от рельефа дороги и изменени скорости движени автопоезда в процессе поворота.The purpose of the present invention is to improve the control accuracy by repeating the next link with the turning wheels of the trajectory of the turning wheels of the previous link irrespective of the road surface and changing the speed of the trailer in the course of turning.
Указанна цель достигаетс тем, что поворачивают управл емые колеса последующего звена на угол, при котором мгновенный радиус поворота пеповоротных колес последующего звена равен зафиксированному радиусу поворота неповоротных колес предшествующего звена, а задержку сигнала провод т на врем , необходимое дл прохождени неповоротпыми колесамиThis goal is achieved by turning the controlled wheels of the next link by an angle at which the instantaneous turning radius of the turning wheels of the following link is equal to the fixed turning radius of the non-turning wheels of the previous link, and the signal delay is carried out for the time required for the non-turning wheels to pass.
5 последующего звена пути, равного рассто нию вдоль траектории движени до неповоротных колес предшествующего звена, а также тем, что угол, на который поворачивают управл емые колеса последующего5 of the next link of the path, equal to the distance along the trajectory of movement to the non-swiveling wheels of the previous link, and also the fact that the angle by which the steered wheels of the subsequent link turn
10 звена, определ ют по формуле:10 links are determined by the formula:
YKO (-T3), LIYKO (-T3), LI
где LI - база предшествующего звена; 15 /-2 - база последующего звена;YI ( - Тз ) - угол поворота управл емых колес предшествующего звена в момент времени (t-Тз); / - текущее врем ; 20 Тз - врем задержки сигнала, пропор:ционального углу поворота.where LI is the base of the previous link; 15 / -2 - base of the next link; YI (- Тз) - angle of rotation of the controlled wheels of the previous link at the moment of time (t-Тз); / - current time; 20 Тз - signal delay time, proportional to the angle of rotation.
На чертеже изображена схема автопоезда на повороте при движении задних непо воротных колес звеньев по одной траектории.The drawing shows a diagram of a cornering trailer when the rear fixed wheels of links move along a single trajectory.
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SU792772970A SU844443A1 (en) | 1979-05-15 | 1979-05-15 | Method of controlling the turns of road train trailed vehicles |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SU792772970A SU844443A1 (en) | 1979-05-15 | 1979-05-15 | Method of controlling the turns of road train trailed vehicles |
Publications (1)
Publication Number | Publication Date |
---|---|
SU844443A1 true SU844443A1 (en) | 1981-07-07 |
Family
ID=20830606
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SU792772970A SU844443A1 (en) | 1979-05-15 | 1979-05-15 | Method of controlling the turns of road train trailed vehicles |
Country Status (1)
Country | Link |
---|---|
SU (1) | SU844443A1 (en) |
-
1979
- 1979-05-15 SU SU792772970A patent/SU844443A1/en active
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