The study of forced oscillations in the non-linear system of an individual traction drive

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Abstract

BACKGROUND: The processes taking place in the ‘traction electric drive – wheel – road’ system during acceleration and braking cause increased dynamic loads on drive components, which may lead to a breakdown. Therefore, it is important to control the drive in a way to minimize and to suppress the given processes. To make it possible, the control system is to be equipped with a resistance torque observer at the electric motor shaft. In addition, in any system, there is a heighten interest in study of arise of resonances, which come with abrupt increase of oscillations amplitudes. Therefore, the features of oscillation phenomena in the given non-linear system are to be studied.

AIM: Identification of the peculiarities of oscillatory processes, resonance phenomena in the systems of electromechanical drive of vehicles, which are nonlinear technical systems.

METHODS: The study of features of the oscillating processes and the study of capabilities of arise of resonant phenomena were conducted using analysis of the differential equations system describing the operation of the non-linear system.

RESULTS: The features of the oscillating phenomena in non-linear systems of interaction between an elastic wheel and road as well as capabilities of arise of resonant phenomena were considered. It is defined that arise of the resonant phenomena in the considered systems is not possible due to breakdown of them. The behavior of modes of interaction between an elastic wheel and road during intensive acceleration and braking was analyzed. The abrupt shock behavior of change rate of wheel torque and current consumed by a drive as well as features of lowering of them when using the self-oscillating phenomena suppression were found.

CONCLUSION: The practical value of the study lies in ability of using the proposed conclusions at development of units of a traction electric drive and at synthesis of vehicle motion control systems.

About the authors

Aleksander V. Klimov

KAMAZ Innovation Center; Moscow Polytechnic University

Author for correspondence.
Email: klimmanen@mail.ru
ORCID iD: 0000-0002-5351-3622
SPIN-code: 7637-3104
Scopus Author ID: 57218166154

Cand. Sci. (Engineering), Head of the Electric Vehicles Service; Associate Professor of the Advanced Engineering School of Electric Transport

Russian Federation, Moscow; Moscow

References

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Supplementary files

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2. Fig. 1. Kistler-Rim RoaDyn strain gauge wheels.

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3. Fig. 2. Torque at traction wheels at abrupt intensive acceleration when both left and right side are on wet basalt road: a) ride 1; b) ride 2; c) ride 3.

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4. Fig. 3. Torque at traction wheels at abrupt intensive braking when both left and right side are on wet basalt road: a) ride 1; b) ride 2; c) ride 3.

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5. Fig. 4. Equipment for data recording: а) Vector VN1630A; b) Computer.

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6. Fig. 5. Curves of wheel torque (а) and current consumed by the drive (b).

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7. Fig. 6. The analytical model of interaction of an elastic wheel with solid ground surface: 1 — the vehicle sprung mass M given to a wheel; 2 — the wheel mass m; 3 — rollers; 4 — a spring showing longitudinal compliance of a tire; 5 — a ground surface; 6 — a rolling wheel; 7 — a traction electric motor; c — spring stiffness; x1, x2 — longitudinal displacements of masses 1 and 2; F(V2sk) — friction force dependent on slip rate V2sk of the wheel relatively to the ground surface; ωκ — wheel rotation velocity; rκ — distance between the wheel center and the ground surface; Mt — traction or braking torque of the traction electric drive; cm — angular ‘electromagnetic’ stiffness of the traction permanent magnet synchronous machine; Jm — inertia moment of rotating parts of the electric motor given to the rotor.

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8. Fig. 7. Curve of restoring force (а) and dependence of angular frequency ω of free oscillations on half-range A (b).

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9. Fig. 8. Resonant and skeleton curves for the non-linear system.

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10. Fig. 9. Resonance ‘breakdown’ in the systems with non-linearly increasing stiffness.

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