Evaluation of the lateral deviation of a wheeled vehicle from a given trajectory

   A wheeled machine in a curved movement is always under the action of a lateral force and deviates from the set trajectory due to lateral guidance. Well-known methods and ways of studying the curvilinear motion of a wheeled machine, especially in unsteady modes, at high speeds and with small turning radii, provide reliable information only for limited conditions of machine operation on a solid support base. A methodology for calculating the lateral deviation of a wheeled machine when driving on a deformable base from a theoretical curvilinear trajectory as the difference between the actual minimum and theoretical minimum turning radii is proposed. This methodology presents it as a single object, rather than describing the rolling of an individual wheel due to its complexity. This eliminates the time-consuming and materially expensive process of determining empirical coefficients and dependencies. The analytical studies of the trajectory curves used experimental data and the description of these trajectories by the method of nonlinear approximation of the piecewise-smooth function. The actual analytical trajectory is obtained by shifting the theoretical trajectory and the minimum theoretical radius by the amount of lateral deviation. The proposed method of analytical description of the actual trajectory of the curvilinear motion of a wheeled machine on a deformable support base using experimental data and nonlinear approximation of their piecewise smooth function, as well as the method of determining its lateral deviation with the changes in the calculated and experimental trajectories allow to accurately describe various regimes of unsteady motion along the actual trajectory and solve the problems necessary to rationally use wheeled machines to optimize their design properties and performance.

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