KHOA H O C - CONG N G H E NGHIEN Cllu DONG LUG HOC PHANH XE KEO MOOC BANG MO HiNH MOT DAY PHI TUYEN f ^ -_ / Nguyen NgQC Tit', Vo Vdn Hudng ^, Nguyin Vdn Tdn' TOMTAT Xe keo mooc co kich thudc ldn, kel cdu hai thdn cd khdp noi nen tinh chdt chuyen ddng rat phitc tap dgc bict Irong cdc trang Ihdi dieu khien nhu phanh hogc quay vong Bdi bdo Irinh bay vi4c Ihiit lap md hinh dang luc hpc moi ddy phi tuyen xe keo mooc Phmmg phdp tdch cdu true h$ nhieu vgi vd h^ phuang trinh Newlon - Euler duac dp dung de xdy dung chuyen dgng ciia limg phdn xe keo mooc Md hinh dgng lvc hgc dugc md Id bdng phdn mem mdy linh Sit dung mdhinh khdo sdt mdt sd tntdng hgp chuyen dgng dgc Irung nhu phanh, quay vdng Cdc kit qud dua la phit hgp vdi dieu ki?n thuc le Tic khda: Gdc lech hai thdn xe; Vgn Idc gdc xoay Ihdn xe; Gia Idc gdc xoay Ihdn xe; Md hinh ldp phi tuyen A STUDY ON DYNAMICS O F T R A C T O R - T R A I L E R BY NON-LINEAR TWO-WHEEL MODEL Nguyen Ngoc Tu ', Vo Van Huong ^, Nguyen Van Tan ^ SUMMARY It is difficult to predict exactly the motion stability of tractor-trailer since the complicated structure of the vehicle with a fil^h wheel especially in the case of braking process while turning In this research, a ID dynamic model is established based on the Newton-Euler equation system The model is applied to investigate the stability of tractor - trailer in the case of braking process while turning The archived results are high accuracy and the same to previous results Keywords: Tractor-trailer Yaw; Yaw rate of vehicle; Yaw acceleiiition of vehicle; Non-linear model of tire L D ^ T VANDE Nhu ciu phat triSn hien dang c j n co cac losii phuong tien da nang phvc vy cho nhu cJu dinh cua xe keo mooc nhim tang tmh an toan, gop phto lam gitoi tai nan giao thong, v ^ chuyen hang hoa cung nhu di lai Viet D l c6 t h l nghien cuu duoc dong lire hpc xe Nam, ngoai viec phuc vu v t o chuyln hang hoa keo mooc, sit dung phuang phap tach cau tnic pham vi nha may thi xe keo mooc dang he nhilu vat de xay dvmg mo hinh dpng luc hoc din dupc nghien ciiu d l sil dung cho cac nhu Sau dung phto m i m may tinh de mo phong ciu di Iji nhu du lich theo gia dinh mo hinh toto hoc da lap Xe keo mooc co kit c i u hai thto lien kit bang don keo co kich thuoc lon B t o thto don keo cOng lai dong vai tro la din huong cho phto mooc, dan d i n tinh chit dpng hfc hpc xe keo mooc rit phiic tap di chuyto Do c t o co n KET QUA VA THAO LUAN Xay d u n g mo hinh y; Nguyen ly lach cdu true vd phuang ,^;„;, Newlon - Euler j a j ^^ \\g^ jjjt, thay cac luc hoac mo men mo hinh dpng luc hoc nghien ciiu tinh chat 6n (,5 ^^^^ ' ThS Tmimg B?i hpc Su pham ky thuSt Vinh ^ PGS.TS Trudng Bai hQC Bach khoa Hi NQI ' PGS.TS HQC vicn ky thuSt quan su huong ducmg la huong cua chuyln dpng M6i vat CO khii luong m va khoi ttoi C voi cac mo TAP CHf CONG NGHIEP NONG T H N - SO 14 - 2014 ^ 55^ y^ac chilu va ctog phuong, 37 KHOA HOC - CONG NGHfi men quto tinh chuyto dpng dpc lap tuong doi voi chuyln dpng he nhilu vat MBS (Multibody System) [1] Trong mjt nln, xe co hai chuyln dOng tjnh tien va chuyen dpng goc quanh true z Tai trpng ttoi xe ta dat hS tpa dp vat B(xyz) co true z song song voi true Z cua he G(XYZ) Ngoai cac btoh xe cung chuyen dpng tuong doi voi thto xe va ta phai djnh nghla cho chiing cac h? Bwi(xwiy»i) Cac h? B(xyz) va Bwi{x„iy„i) deu quy chieu ve hS co dinh G(XYZ) Phuong trinh Newton viet h^ co dinh: °Fc=m\ (2.1) Vec to luc he c6 dinh^F^ va he cue bp^i^co quan he theo ma titoi xoay ^/fg nhu sau: Gc _ Gp Sc- C/ nl o 77 - Kg r^ (2.2) = m °Vj -I- m Q Og X Phucmg trinh Euler h? vat B: I, 0 ' /j 0 /, =0 d}^ 6}^ fflj [/, U aij + 0), X f i ;, [0 /, ^ r (2.5) ' 6}^ a ^ dtjj -01 coj^ +0) ll)J, eii^l, +ei,iOjl2 " dlJi -at^o.l, ~ 01,6)yl^ +0)^13)^1^ ^huong trinh Euler hB c6 duih G(XYZ) "M^ = "R, 'M^ ' cosiff -sin((/ " ' 0" = sin(i^ coiilf 0 = M, 0 M M (2.6) Ap dung phucmg phap tach cau true he nhieu vat tac gia thiet lap mo hinh dpng l^rc hpc mgt vet thong qua cac m6 hinh: - Mo hinh dao dpng ; - Mo hinh chuyen dpng ; - Mo hinh lop ; - Mo hinh banh xe 1.2 Mo hinh dao dgngxe keo mooc Trong mo hinh dao dpng tach xe cac phan CO ban nhu sau : - Phan dtrpc treo xe keo ; - Phan dupc treo xe mooc ; - Phan don keo va cau ; - Cac banh xe (2.3) m^Rl^ (v^ -ifTv^ycosift -(v^ +iffvjsiny/ H? phucmg trinh dao dpng phan dupc treo = m''R'„ (yy+i/ri>Jcosi//+(v^-i/tVy)smif/ xe keo: V,+!fT, 38 (2.4) "^A = Fc, +FKi + Fc2+F^2 -Fbi Jy,^,='(Fc,+F,,)l,HFc2+F,,)l, (2.7) HF^i+F;,,)(h^-r)-M^-M, +F^x{h,-K2)-Fj,,-F^,{K,-h,) TAP CHf CONG NGHIEP NONG THON - SO 14 - 2014 KHOA H Q C - C O N G N G H E W Hinh Md Mnh dao dgng phan don keo 1.3 Mo hinh chuyen dongxe keo mooc Trong mo hinh nay, tac gla tach xe keo mooc phan de mo ta chuyln dpng: - Phan xe keo; - Phan xe mooc; - Phan chot keo va cau 3; Hinh Mo hinh dao dgngxe keo Y FA Fy, .rH E I •• FXI/MZJ Fy He phuang trinh dao dpng phan duoc treo [-M3 -M,-F^,(h, ~r) (2.8) -K2)-F^A2 TAP CHI CONG NGHliP NONG THON - SO 14 2014 ^rh FjS J / ~^ .-y>t'V.) = K, + •^1 (^1 ~ y\W\) = ^ijcos^- F^[ sin 5+F^.^ ~F -F '• v o l F^,-F^, lM,(y,+x,i^,) = F^,+F^,-F^, (2.11) [ ^ V^* = ^^1^* - F^/,, - FJ',, + M^, + M^, ^fctl ^i(yi+^iV'i) = ^.iSin^+/;,cos(y+F^j +F -F •^nV'i =(^^1 sin^+F^|COS(y)ai -F^jflj ^2.9) Mo hinh lop Trong nghien curu nay, sur dung mo hinh i6p Ammon [2,3,4] de xac djnh cac lire tuang t^c tai cac banh xe duai dang: F.i=F,,