Title: Effects of locking differentials on the snaking behaviour of articulated steer vehicles

Authors: N.L. Azad, A. Khajepour, J. McPhee

Addresses: Mechanical Engineering Department, University of Waterloo, N2L 3G1, Ontario, Canada. ' Mechanical Engineering Department, University of Waterloo, N2L 3G1, Ontario, Canada. ' Motion Research Group, Department of Systems Design Engineering, University of Waterloo, N2L 3G1, Ontario, Canada

Abstract: The important effects of locking differentials for alleviating and removing the oscillatory instability or snaking behaviour of an articulated steer vehicle are introduced. First, a linearised model is developed to identify the most important parameters and critical driving conditions with regard to the snaking mode. Then, by using the results, the linearised model is analysed to reveal the effects of locking the differentials on the snaking mode. Based on this analysis, locking the differentials introduces a type of damping to the system that can be used to stabilise the vehicle during the snaking mode. Moreover, the numerical results from analysing the linearised model are consistent with those from the simulation of the dynamic behaviour of the vehicle in ADAMS. This verifies the simplifying assumptions for developing the linearised model.

Keywords: articulated steer vehicles; open differential; locking differentials; snaking; linearised model; rear-mounted attachment; front-mounted attachment; lateral stability; virtual prototype; oscillatory instability; vehicle systems modelling; articulated steering.

DOI: 10.1504/IJVSMT.2007.013890

International Journal of Vehicle Systems Modelling and Testing, 2007 Vol.2 No.2, pp.101 - 127

Published online: 01 Jun 2007 *

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