Email this article The method of protecting an articulated electric bus from rollover
- Authors: Antonyan A.V.1,2, Klimov A.V.1,2, Buchkin A.O.2
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Affiliations:
- KAMAZ Innovation Center
- Moscow Polytechnic University
- Issue: Vol 18, No 3 (2024)
- Pages: 232-243
- Section: Transport and transport-technological complexes
- URL: https://journals.rcsi.science/2074-0530/article/view/277882
- DOI: https://doi.org/10.17816/2074-0530-627777
- ID: 277882
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Fig. 1. The design scheme of the application of lateral forces and moments on the section of the electric bus. П.1 — the transverse plane of the front section; П.2 — the transverse plane of the rear section; mкм1 — the mass of the front section, kg; mкм2 — the mass of the rear section, kg; g — acceleration of the free fall, m/s²; v₁ — the velocity of the front section, m/s; v₂ — the velocity of the rear section, m/s; Rсц — vertical force in the coupling device, N; B — wheel track, m; Rп1 — kinematic radius of turning of the front section, m; Rп2 — kinematic radius of turning of the rear section, m; hцм1 — height of the center of mass of the front section, m; hцм2 — height of the center of mass of the rear section, m; γ — measured articulation angle, rad.
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Fig. 2. The block diagram of the formation of the requested torque to the traction inverter; ωz1 — measured yaw rate of the front section, rad/s; ωz2 — measured yaw rate of the second section, rad/s; B — wheel track, m; hцм1 — height of the center of mass of the front section, m; hцм2 — height of the center of mass of the rear section, m; θруль — steer angle of the steerable wheels, rad; γ — measured articulation angle, rad; xкр.оп1 — control error in the front section; xкр.оп2 — control error in the rear section; hкр.оп1 — multiplier of the regulator of the front section; hкр.оп2 — multiplier of the regulator of the rear section; hкр.оп — regulator multiplier, the minimum of hкр.оп1, hкр.оп2; Mref — maximal torque, N∙m; hпедаль — the degree of pressing the stroke pedal; «инв» — inverter.
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Fig. 3. The shape of the logistic function: a — the standard; b — the transformed. x — the argument of the logistic function; x(t) — the argument of the transformed logistic function; σ — the output variable of the logistic function; h(t) — the output variable of the transformed logistic function.
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Fig. 4. Paths of electric buses: a — the Electric bus 1; b — the Electric Bus 2: blue graph — path of the center of mass of the front section; orange graph — path of the center of mass of the rear section.
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Fig. 5. Normal reaction on the rear drive wheel of the inner side: a — the Electric bus 1; b — the Electric bus 2.
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Fig. 6. Critical and measured yaw rates of the front section: a — the Electric bus 1; b — the Electric bus 2; red graph — critical yaw rate of the front section; green graph — measured yaw rate of the front section.
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Fig. 7. Critical and measured yaw rates of rotation of the rear section: a — the Electric bus 1; b — the Electric bus 2; red graph — critical yaw rate of the front section; green graph — measured yaw rate of the front section.
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Fig. 8. Roll angles of the front and rear sections: a — the Electric bus 1; b — the Electric Bus 2; blue graph — roll angle of the front section; orange graph — roll angle of the rear section.
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