Abstract

The dynamics of a biaxial four-wheeled vehicle is simulated when drive wheels of one of its axes get into the \(\mu\)-split surface. The \(\mu\)-split surface is a section of the reference plane with different friction coefficients for the left and right wheels of one of the vehicle axes. Depending on the conditions of vehicle motion, the interaction of its wheels with the reference plane is described by the slip model or the Coulomb dry friction model. Using the methods of fractional analysis and the theory of singular perturbations, we estimate the angular velocity impulse, which is received by the vehicle body after the completion of the rapid transient alignment of the contact forces on the wheels of the drive axis.

中文翻译：

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$$ \ boldsymbol {\ mu} $$的轮式车辆打滑-拆分

摘要

当双轴四轮车的其中一个轴的驱动轮进入\（\ mu \）剖分面时，将模拟其动力学。的\（\亩\） -split表面是基准平面与用于车辆轴中的一个的左车轮和右车轮不同的摩擦系数的部分。取决于车辆运动的条件，其车轮与参考平面的相互作用由打滑模型或库仑干摩擦模型描述。使用分数分析方法和奇异摄动理论，我们估算了角速度脉冲，该脉冲在驱动轴的车轮上的接触力快速瞬态对齐完成后由车身接收。