Source: http://www.mmajournal.org/article/389/10.11648.j.mma.20180302.11
Timestamp: 2019-04-22 21:54:51+00:00

Document:
Road train steady motion mode divergent stability loss compiles with the critical according to A.M. Liapunov case of a single zero root. That said both safe and dangerous stability loss scenarios are possible according to N.N. Bautin. Dangerous stability loss is followed with a semi-trailer intensive drifting even in case of linear motion. Analyzing the reasons of such system behavior requires developing new effective analytical approaches towards defining safe-dangerous articulated vehicle divergent stability loss because direct methods for finding corresponding Liapunov indexes may appear ineffective in the analytical form being excessively cumbersome. The work presents a formalized approach to analyzing safe stability loss conditions the essence of which is in defining conditions when bifurcation set structure rearrangement occurs in linear motion critical speed small neighborhood. The kind of approach has been tested by the authors when analyzing single unit vehicle stability. Analytical relations are presented defining road train configuration following circular paths with constant Ackermann angle; consideration of analytical results accuracy evaluation is performed based on comparing to the results received with numerical analytic parameter continuation method; analytical relations are received corresponding to safe linear motion mode stability loss (in the sense of N.N. Bautin). The work develops methods of analyzing two-link vehicle non-linear model two-parameter steady modes manifold stability.
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