The optimal control law of the power supplied to the wheeled vehicle in case of curvilinear movement Georgy O. Kotiev, Vasiliy A. Gorelov, Boris B. Kositsyn, Ruslan L. Gazizullin, Konstantin E. Byakov Tractors and Agricultural Machinery, 2024 BACKGROUND: Highly-mobile wheeled vehicles are designed to move on roads and terrain in various road and soil conditions, which is accompanied by frequent and significant changes in traction forces and rolling resistance forces. In this regard, in order to maintain vehicle mobility and to ensure low energy costs when performing transport tasks, it is necessary to continuously change the operating mode during motion from the completely locked mode to the differential mode in the case of a mechanical transmission. At the same time, the transmission operating mode selected by the driver is not always reasonable. Thus, the development of a law for controlling the power supplied to the propulsion system, ensuring minimal energy losses while maintaining vehicle mobility in widely varying road conditions, is a relevant task.OBJECTIVE: Increasing the energy efficiency of highly-mobile wheeled vehicles by applying a control law for the power supplied to the propulsion system, adaptive to driving conditions.METHODS: Increasing the energy efficiency of motion can be achieved by means of reducing losses due to wheel slipping by controlling the power supplied to the propulsion system. It is advisable to obtain the control law as a result of solving an optimization problem, where the loss power is chosen as the objective function, and the traction forces developed on each of the wheels are chosen as the varied values. At the same time, in order to maintain the ability of vehicle to move, it is necessary to take into account that the total traction force on all wheels must be determined by external conditions and be provided by the powertrain. To solve the optimization problem, the Lagrange multiplier method was used.RESULTS: The conducted studies made it possible to obtain a unified law of adaptive control of the power supplied to the propulsion system in analytical form, applicable in a wide range of road conditions in both straight and curvilinear motion, ensuring the distribution of moments across the driving wheels of the machine close to optimal.CONCLUSIONS: The application of the developed law for controlling the power supplied to the propulsion system, based on the use of information about the longitudinal and vertical forces, rotational velocities and steer angles of the wheels during the motion, will improve the efficiency of performing transport tasks when moving a vehicle in continuously changing road conditions. This is achieved due to reducing the workload on the driver in terms of controlling differential locks in comparison with a manual transmission both in straight and curvilinear motion.
Research on the lubrication of mechatronic transmission components of an eco-friendly vehicle Fedor Pankratov, Dmitry Panasenkov, Aleksandr Kartashov, Ruslan Gazizullin Bio Web of Conferences, 2024 The article presents a research of the lubricity of the elements of the mechatronic transmission of an energy efficient truck. Particular attention is paid to the processes associated with ensuring reliable operation of the transmission and reducing friction between the components. Analysis of the distribution of fluids, performed using the SPH method, allows us to determine the lubricity conditions to improve performance characteristics, as well as reduce the temperature of the mechanisms to increase the service life and improve the overall efficiency of the system. The results of the research demonstrate the importance of choosing lubricants and their application modes, which directly affects the durability of transmission elements and the energy efficiency of the entire vehicle. These findings can serve as a basis for developing recommendations for optimizing the operation of mechatronic transmissions of cars.
Аn approach of mechatronic transmission designing an ecologically friendly vehicle Aleksandr Bokarev, Artem Levochkin, Sergey Rakhaev, Aleksander Kartashov, Ruslan Gazizullin Bio Web of Conferences, 2024 As a rule, the design process of any vehicle is divided into phases of conceptualization, development and industrialization. The most important is the conceptualization phase, on the good elaboration of which the final appearance and quality of the final product will depend. In terms of design, the fundamental engineering issue is the correct choice, interpretation and modelling of load conditions for cascading loads across all components of the power structure of the vehicle chassis. The most correct and classic vehicle chassis design process is based on the study of vehicle benchmarking. This article describes the process of developing the original geometry of the load-bearing arms of the mechatronic transmission of an energy efficient truck based on the study of a design vehicle benchmarking of a foreign manufacturer. The result of this article is a general demonstration of the advantages of using the «reverse engineering» method on the example of designing the load-bearing arms of a mechatronic transmission of an energy efficient truck, as well as confirmation of the adequacy and validity of the applied calculation modelling methods. The aim of the work is to develop design methods and gain experience in the field of computational research through the use of the «reverse engineering» method.
Research of thermal load in an energy efficient mechatronic truck transmission considering energy losses Dmitry Panasenkov, Fedor Pankratov, Aleksandr Kartashov, Ruslan Gazizullin E3s Web of Conferences, 2024 The article examines the heating of a truck’s energy efficient mechatronic transmission during operation of an electric motor in maximum power mode. Particular attention is paid to the process of modeling conjugate heat transfer and its impact on the energy efficiency of mechatronic transmission. To solve this problem, computational fluid dynamics (CFD) methods are used, in particular the finite volume method (FVM), which allows for an accurate assessment of heat flows between different environments inside the transmission. Analysis of thermodynamic processes occurring in mechatronic transmission is of great importance for optimizing its operation and increasing reliability. The simulation results demonstrate the influence of various factors, such as driving speed, loads and temperature conditions, on the efficiency of heat exchange and, as a result, on the energy efficiency of the entire vehicle. These research contribute to the development of more efficient cooling systems and improved performance of trucks.
Analytical review of modern energy efficient trucks with electric drive wheels Vladislav Klubnichkin, Evgeny Klubnichkin, Aleksandr Kartashov, Valeriy Grinin, Ruslan Gazizullin E3s Web of Conferences, 2024 The article provides an overview and analysis of modern energy efficient trucks with traction electric drive wheels. A description is presented indicating the main technical characteristics of the model range of energy efficient trucks with electric drive wheels, such companies as DAF Trucks, Mercedes-Benz, Daimler Trucks North America, Kenworth, Mack Trucks, Quantron, Renault Trucks, Scania, Xos, Volvo. The results of the review and analysis of promising technology made it possible to identify the dependence of the mass of the car on the power of the electric motor. A comparison is made between the developed prototypes of energy efficient trucks and foreign energy efficient analogues. Based on the analysis and review, conclusions are formulated about the selected power and weight indicators for newly developed energy efficient trucks.
Determination of the number of speeds of a mechatronic transmission of a road car based on a typical specified driving mode Valeriy Grinin, Evgeniy Shkarupelov, Aleksander Kartashov, Ruslan Gazizullin, Sergey Nazarenko E3s Web of Conferences, 2023 The article discusses the problem of determining the rational number of gears for a mechatronic transmission of a truck vehicle. A review of the designs of existing mechatronic transmissions from leading manufacturers of motor vehicles was carried out, with an emphasis on analyzing the number of gears used in them. A method has been developed for determining the rational number of gears based on simulation modeling of the movement of a truck along driving cycles, synthesized on the basis of statistical data on the movement of trucks across the territory of the Russian Federation. A synthesized driving cycle and a simulation model of truck movement, designed to determine the loads on the electromechanical transmission when moving along this cycle, are considered. Based on the results of simulation modeling of the movement of a truck with a different number of gears in a mechatronic transmission, conclusions about the influence of multi-speed transmissions on the energy efficiency of electric truck vehicle were drawn. Conclusions have been formulated about the required number of gears for mechatronic transmissions of trucks moving on the roads of the Russian Federation.
Sampling of a driving cycle for e-trucks with a mechatronic transmission N.V. Buzunov, M.A. Emelyanov, R.L. Gazizullin, A.B. Kartashov, M.V. Murashov E3s Web of Conferences, 2023 Traction battery vehicles (TBV) are currently gaining more and more popularity and are gradually replacing vehicles with ICE and traditional transmissions. The usage of an electric traction drive as part of TBV solves a number of problems that manufacturers of this type of equipment face today: reducing harmful emissions into the atmosphere, reducing noise, used lubricants recycling, and the increase of the energy efficiency. From the point of view of the scientific research, this type of wheeled vehicles is also of high interest due to the large number of problems and tasks that have formed at the moment. It is a common knowledge, that one of the main problematic issues for the TBV is a rather limited range. In cargo electric vehicles and buses, in order to reduce the size and increase the usable volume of the passenger compartment or cargo space, as well as to unify the products of the power unit and drive, there are used the transmissions, which are the combination of mechanical and electrical components with appropriate control systems. The mechanical component includes a gearbox with one or more gear ratios, an inter-wheel differential, axle shafts, bearings and other components. The electrical component is a traction motor located directly in the drive axle (integrated) or on the outside of the crankcase, as well as a voltage converter with a control system and the necessary switching elements. Similar implementations of the driving axles of vehicles with traction batteries are called mechatronic transmissions.
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