METHOD OF CONTROLLING ARTICULATED VEHICLE MOVEMENT Russian patent published in 2016 - IPC B62D13/04 

FIELD: transport.

SUBSTANCE: proposed is a method of controlling the movement of an articulated vehicle consisting of driving and driven platforms (1, 2), which are hinged to each other by means of a load-carrying frame or directly by transported load (3), wheels of each of which are made driving and are equipped with drives of the wheels. By means of sensors of the control system motion parameters of the platforms are registered permanently, including the path and the folding angles between the longitudinal axis of each of the platforms and the longitudinal axis of the load-carrying frame or the transported load. Control system is used to perform calculations required to generate the driven platform wheels turn control signal for its following the path of the driving platform. At the stage of the driving platform movement along a curvilinear trajectory the heading angle of each platform is monitored as its increment relative to the common fixed coordinate system, the start of which coincides with the corresponding phase of the transition path. Driven platform speed of movement relative to the driving one is monitored and the driven platform turn parameters are calculated, such as the wheels turning angles, as well as the starting moment of its movement along the curvilinear trajectory depending on a distance between the two platforms. Simultaneously, coordinates of the trajectory of the driving platform geometrical center movement along the curvilinear trajectory are calculated, which further, along with parameters coming from the sensors, are taken into account during movement of the driven platform along the trajectory of the driving one, while controlling the values of their geometrical centers coordinates.

EFFECT: coincidence of the driving and the driven platforms movement along curvilinear trajectories as parts of the vehicle is provided taking into account the transition paths legs at coming into corner and going out of it, as well as simultaneous taking into account the change of speed of the driven platform relative to the driving one when moving along curved trajectories to reduce undesirable loads for the cargo.

1 cl, 5 dwg