В зоне, соответствующей малым углам поворота рулевого колеса, т. е. движению, близкому к прямолинейному, что обычно характерно для высоких скоростей движения, машина имеет малую чувствительность к управлению, а значит, высокую курсовую устойчивость движения. При больших углах поворота рулевого колеса маневренные свойства резко увеличиваются.
Основная же задача алгоритма функционирования бортового компьютера и разработанной на его основе программе расчета — согласовать между собой углы поворота каждого из колес при выбранном способе управления. Так как задатчик положения полюса поворота выполнен таким образом, что позволяет непрерывно изменять его место (а не дискретно, как, например, у «Кометто») алгоритм становится универсальным, способным реализовать практически любой способ управления транспортным средством. На рис. 4.18 приведен пример расчета угла поворота одного из управляемых колес ТС, где — выходной сигнал, пропорциональный углу поворота /-го колеса автомобиля; (3 — входной сигнал, пропорциональный углу поворота штурвала; у— входной сигнал, пропорциональный положению полюса поворота; i — порядковый номер колеса.
Структура алгоритма такова, что расчет углов поворота каждого колеса проводится независимо. Это применимо к транспортным средствам с любым количеством осей и колес на них. Реализация принципиальной схемы РУ и алгоритма работы бортового компьютера на объекте Э79085 со всеколесным рулевым управлением обеспечило ему следующие преимущества по сравнению с прототипом:
а) уменьшение радиуса поворота и габаритного коридора;
б) снижение затрат мощности двигателя автомобиля на повороты с малыми радиусами.
За счет того, что все колеса объекта повернуты согласно необходимой кинематике, боковой увод шин отсутствует, как и проскальзывание в месте контакта протектора с дорогой. Прототип же, как и все автомобили, имеющие несколько осей с непово- рачивающимися колесами, расходует дополнительную мощность на деформацию шин и трение в пятне контакта. Экспериментальная зависимость, приведенная на рис. 4.20, получена при радиусе поворота 25,6 м — одинаковом как для прототипа, так и для объекта Э79085. Мощность, требуемая на поворот прототипа, практически в два раза превышает энергетические затраты объекта Э79085, которые, в свою очередь, весьма близки к мощности прямолинейного движения.
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password_clear ⇒
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1 × UPDATE automarket_sefurls
SET cpt=(cpt+1)
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VALUES ('4pj3dt0jgk3kg4f5o9a69p05o6', 0, '1734800438'