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2017-10-08
Technical Paper
2017-01-2359
Yaodong Hu, Fuyuan Yang, Minggao Ouyang
Abstract Energy saving is becoming one of the most important issues for the next generation of commercial vehicles. The fuel consumption limits for commercial vehicles in China have stepped into the third stage, which is a great challenge for heavy duty commercial vehicles. Hybrid technology provides a promising method to solve this problem, of which the dual motor coaxial series parallel configuration is one of the best options. Compared with parallel configuration, the powertrain can not only operate in pure electric or parallel mode, but also can operate in series mode, which shows better flexibility. In this paper, regulations on test cycle, fuel consumption limits and calculation method of the third stage will be introduced in detail. Then, the quasi-static models of the coaxial series parallel powertrain with/without gearbox under C-WTVC (China worldwide transient vehicle cycle) are built. The control strategies are designed based on engine and motor performance.
2017-10-08
Technical Paper
2017-01-2350
Chalermwut Wongtaewan, Umaporn Wongjareonpanit, Komkrit Sivara, Ken Hashimoto, Yoichiro Nakamura
Abstract In Thailand, most heavy-duty trucks were equipped with diesel engine, while a small portion was equipped with compressed natural gas (CNG) engine. However, in the past few years the number of CNG fuel trucks in Thailand has increased significantly due to the cheaper cost of CNG. In general, the emphasis of heavy-duty diesel engine oil performance is on piston cleanliness and soot handling properties, while thermal and anti-oxidation properties are most critical for CNG engine oil performance. For truck fleet owners who operate both types of trucks, using the inappropriate oil that is not fit-for-purpose can adversely affect engine performance and reduce engine service lifespan under prolonged usage. A novel CNG/diesel engine oil was developed to meet both JASO DH-2 heavy-duty diesel engine oil performance and CNG engine oil performance. The candidate formulation was proved adequately fit for practical use regarding to thermal and anti-oxidation properties.
2017-10-08
Technical Paper
2017-01-2364
Jiaqiang Li, Yunshan Ge, Chao He, Jianwei Tan, Zihang Peng, Zidi Li, Wei Chen, Shijie Wang
Abstract Urea SCR technology is the most promising technique to reduce NOx emissions from heavy duty diesel engines. 32.5wt% aqueous urea solution is widely used as ammonia storage species for the urea SCR process. The thermolysis and hydrolysis of urea produces reducing agent ammonia and reduces NOx emissions to nitrogen and water. However, the application of urea SCR technology has many challenges at low temperature conditions, such as deposits formation in the exhaust pipe, lack deNOx performance at low temperature and freezing below -12°C. For preventing deposits formation, aqueous urea solution is hardly injected into exhaust gas stream at temperature below 200°C. The aqueous urea solution used as reducing agent precursor is the main obstacle for achieving high deNOx performances at low temperature conditions. This paper presents a solid SCR technology for control NOx emissions from heavy duty diesel engines.
2017-10-08
Technical Paper
2017-01-2368
Wenji Song, Weiyong Tang, Bob Chen
Abstract The 4JB1 diesel engine originated from Isuzu has large share in the China light duty truck market. However, the tightened NOx emission target enforced by NS-V legislation compared with NS-IV regulatory standard is very challenging for this engine platform which originally adopted the DOC+POC catalyst layout. Furthermore, combustion characterization of this type engine leads to high soluble organic fraction (SOF) content in engine out particulates, which requires the catalysts in the exhaust after-treatment system (ATS) to deliver high SOF conversion efficiency in order to meet the regulation limit for particulate matters (PM). In this paper, an innovative exhaust catalyst layout with DOC+V-SCR is introduced. The front DOC is specially formulated with optimized PGM (Platinum Group Metal) loading which ensures effective SOF oxidation while keeping sulfuric acid and sulfate generation minimal.
2017-10-08
Technical Paper
2017-01-2450
Chao Xu, Fuyuan Yang, Jinyu Zhang
Abstract Power-split configuration is highlighted as the most popular concept for full hybrid electric vehicles (HEV). However, the energy management and design of power-split heavy duty truck under Chinese driving conditions still need to be investigated. In this paper, the parametric design, a rule-based control strategy and an equivalent consumption minimization strategy (ECMS) for the power-split heavy duty truck are presented. Besides, the influence of a penalty factor also discussed under ECMS algorithm. Meanwhile, two different methods to search the engine operation point have been proposed and the reason of different economy performance is presented by using energy flow chart. And the simulation results show both fuel consumption can satisfy the second phase fuel consumption standard and the third phase fuel consumption standard which will be implemented in 2020, under C-WTVC (Chinese-World Transient Vehicle Cycle).
2017-10-08
Technical Paper
2017-01-2462
Ruipeng Zhang, Kaichuang Meng
Abstract Due to the increase of mining production and rising labor costs, manufacturers of construction and mining equipment are engaged in developing large tonnage mining truck with good dynamic performance and high transport efficiency. This paper focuses on the improvement of the dynamic performance of a 52t off-highway dump truck. According to the characteristics of its operating cycle, electric auxiliary drive system is installed in the front axle aiming at improving the utilization rate of ground adhesion. The new all-wheel drive hybrid electric system makes it possible for dump truck transports at a higher velocity. Both the conventional dump truck model and the new all-wheel drive hybrid truck model are built based on the AVL-Cruise platform. Meanwhile, under the premise of enough dynamic performance, fuel consumption can be minimized by collaborative optimization in Isight.
2017-10-08
Technical Paper
2017-01-2205
Velmurugan M A, MahendraMohan Rajagopal
Abstract Agricultural tractors are often subjected to various applications like front end loading work, cultivation work, where frequent forward and reverse gears are needed. Most of Indian agricultural tractors are equipped with mechanical transmission system which demands repeated clutching and de-clutching operation for such applications resulting in increased operator fatigue and lesser productivity. Also need of electronics in Indian agricultural industry for better farm mechanization is growing high. This research work depicts development of electronic bi-directional shifting (power shuttle) control design and calibration for farm vehicle fitted with wet clutch transmission. This research also reduces operator fatigue via frequent directional shift through electronic transmission. The control system is designed without any electronic interfacing with engine and also provides clutch-less gear shifting and auto-launch which offers ease to drive even for novice driver.
2017-10-08
Technical Paper
2017-01-2221
Peixuan Zeng, Penghao Zhang, Binyu Mei, Shiping Huang, Gangfeng Tan
Abstract It’s not easy to start the engine in winter, especially in frigid highlands, because the low temperature increases the fuel’s viscosity, decreasing the lubricating oil flow ability and the storage performance of battery. Current electrical heating method can improve the engine starting performance in low temperature condition, but this method adds an external power to the engine, leading to the engine cannot maintain an efficient energy utilization. A warming device using the solar energy is designed to conserve the energy during the daytime, and directly warm up the engine at the time when the engine turns off for a long time, especially during the night. A solar collector installed on the top of the vehicle is used to convert the solar energy to the thermal energy, which is then transferred to the heat accumulator that contain the phase-change medium which can increase the heat storage performance.
2017-10-08
Technical Paper
2017-01-2268
Zhanming Chen, Long Wang, Tiancong Zhang, Qimeng Duan, Bo Yang
Abstract Engines fuelled with Liquefied natural gas (LNG) have been widely used in the heavy-duty vehicles. However, they suffer from poor combustion performance and flame instability under fuel-lean condition. In this work, experiments were performed on a turbo-charged, spark-ignition engine fuelled with natural gas (NG) and methanol. The combustion characteristics such as in-cylinder pressure, heat release rate (HRR), burned mass fraction (BMF), ringing/knock intensity (RI), ignition delay, centroid of HRR, and coefficient of variation (COV) of indicated mean effective pressure (IMEP) were analyzed under light load (brake mean effective pressure=0.3876 MPa) with different methanol substitution rates (MSR=0%, 16%, 34%, 46%). The experimental results showed that combustion phase advanced with the increase in MSR due to faster burning velocity of methanol. Knock only occurred at MSR=46%, 2000 rpm.
2017-10-08
Technical Paper
2017-01-2353
Bernardo Tormos, Leonardo Ramirez, Guillermo Miró, Tomás Pérez
Abstract One of the most interesting alternatives to reduce friction losses in the internal combustion engines is the use of low viscosity engine oils. Recently, a new engine oil category focused fuel economy, has been released in North America encouraging the use of these oils in the heavy-duty vehicles’ segment. This paper presents the results of a comparative test where the differences in fuel consumption given by the use of these oils are shown. The test included 48 buses of the urban public fleet of the city of Valencia, Spain. The selected vehicles were of four different bus models, three of them fueled with diesel and the other one with compressed natural gas (CNG). Buses’ fuel consumption was calculated on a daily basis from refueling and GPS mileage. After three oil drain intervals (ODI), the buses using low viscosity engine oils presented a noticeable fuel consumption reduction. These results bear out the suitability of these oils to palliate engine inefficiencies.
2017-10-08
Technical Paper
2017-01-2351
Bernardo Tormos, Guillermo Miró, Leonardo Ramirez, Tomás Pérez
Abstract Low viscosity engine oils are considered a feasible solution for improving fuel economy in internal combustion engines (ICE). So, the aim of this study was to verify experimentally the performance of low viscosity engine oils regarding their degradation process and possible related engine wear, since the use of low viscosity engine oils could imply higher degradation rates and/or unwanted wear performance. Potential higher wear could result in a reduction in life cycle for the ICE, and higher degradation rates would be translated in a reduction of the oil drain period, both of them non-desired effects. In addition, currently limited data are available regarding “real-world” performance of low viscosity engine oils in a real service fleet.
2017-10-08
Technical Paper
2017-01-2207
Nobunori Okui
Abstract Next-generation vehicles which include the Electric Vehicles, the Hybrid Electric Vehicles and the Plug-in Hybrid Electric Vehicles are researched and expected to reduce carbon dioxide (CO2) emission in the future. In order to reduce the emissions of the heavy-duty diesel plug-in hybrid electric vehicles (PHEV), it is necessary to provide the high exhaust-gas temperature and to keep the exhaust-gas aftertreatment system effective. The engine starting condition of the PHEV is cold, and the engine start and stop is repeated. And, the engine load of the PHEV is assisted by the electric motor. Therefore, the exhaust-gas aftertreatment system of the PHEV is not able to get the enough high exhaust-gas temperature. And, the warm-up of the exhaust-gas aftertreatment system for the PHEV is spent the long time. So, it is worried about a bad effect on the emission characteristics of the PHEV.
2017-09-17
Technical Paper
2017-01-2535
Yongbing Xu, Binyu Mei, Longjie Xiao, Wanyang XIA, Gangfeng Tan
Abstract The continuous braking for the brake drum will cause the brake thermal decay when the heavy truck is driving down the long slope in the mountain areas. It reduces the heavy truck’s braking performance and the braking safety. The engine braking and the hydraulic retarder braking both consume the kinetic energy of the heavy truck and can assist the truck driving in the mountain areas. This research proposes a combined hill descent braking strategy for heavy truck based on the recorded information of the slopes to ensure the braking safety of the heavy truck. The vehicle dynamic model and the brake drum temperature rising model are established to analyze the drum’s temperature variation during the downhill progress of the heavy truck. Then based on the slope information, the combined braking temperature variation is analyzed considering the characteristics of the engine braking, the drum braking and the hydraulic retarder braking.
2017-09-17
Technical Paper
2017-01-2491
Baskar Anthonysamy, Arun Kumar Prasad, Babasaheb Shinde
Abstract Automotive industry has led to constant production innovation among manufactures. This has resulted in the reduction of the life cycle of the design philosophies and design tools. One of the performance factors that have continues to challenge automotive designer is to design and fine tune the braking performance with low cost and short life cycle. Improvement in braking performance and vehicle stability can be achieved through the use of braking systems whosebrake force distribution is variable. Braking force distribution has an important and serious role in thevehicle stopping distance and stability. In this paper a new approach will be presented to achieve the braking forcedistribution strategy for articulated vehicles. For this purpose, the virtual optimization process has beenimplemented.
2017-09-17
Technical Paper
2017-01-2493
Sivakumar Palanivelu, Jeevan Patil, Ajit Kumar Jindal
Abstract Apart from being an active safety system the brake system represents an important aspect of the vehicle dynamics. The vehicle retardation and stopping distance completely depend upon the performance of brake system and the functionality of all components. However, the performance prediction of the entire system is a challenging task especially for a complex configuration such as multi-axial vehicle applications. Furthermore, due to its complexity most often the performance prediction by some methods is limited to static condition. Hence, it is very important to have equivalent mathematical models to predict all performance parameters for a given configuration in all different conditions This paper presents the adopted system modelling approach to model all the elements of the pneumatic brake system such as dual brake valve, relay valve, quick release valve, front and rear brake actuators, foundation brake etc.
2017-09-17
Technical Paper
2017-01-2508
Xianyao Ping, Shengguang Xiong, Gangfeng Tan, Jialiang Liu
Abstract Using friction brakes for long time can increase easily its temperature and lower vehicle brake performance in the downhill process. The drivers' hysteretic perception to future driving condition could mislead them to stop untimely the engine brake, and some other auxiliary braking devices are designed to increase the brake power for reduction of the friction brake torque. The decompression engine brake has complex structure and high cost, and the application of eddy current retarder or hydraulic retarder on the commercial vehicles is mainly limited to their cost and mass. In this paper, an innovative brake guidance system for commercial vehicles with coordinated friction brakes and engine brake is introduced to guide the drivers to minimize the use of the friction brakes on the downhill with consideration of future driving conditions, which is aimed at releasing the engine brake potential fully and controlling the friction brake temperature in safe range.
2017-09-17
Technical Paper
2017-01-2505
Mahesh Shridhare, Santosh Sonar, Manish Ranawat, Ajit Kumar Jindal
Abstract This paper explains a method to estimate and reduce brake pulling of vehicles due to force difference between RH and LH brake during straight ahead braking. One of the cause of brake pulling during straight ahead braking is brake force difference between right and left brakes of front and rear axles. It is challenging to eliminate this unwanted pulling especially during panic braking in shorter wheelbase vehicles having high center of gravity (CG) and drum brake on all wheels. A mathematical model is developed to estimate amount of brake pulling from known parameters like brake force, tire properties, steering geometry, suspension hard points, vehicle CG, scrub radius, castor angle etc. Vehicle tests were conducted to measure amount of brake pulling and close correlation was observed between vehicle test results and derived model.
2017-09-04
Technical Paper
2017-24-0095
Zbynek Syrovatka, Michal Takats, Jiri Vavra
Abstract An ongoing research and development activities on the scavenged pre-chamber ignition system for an automotive natural gas fueled engine is presented in this paper. The experimental works have been performed in engine laboratory at steady state conditions on a gas engine with 102 mm bore and 120 mm stroke, converted to a single cylinder engine. The in-house designed scavenged pre-chamber is equipped with a spark plug, fuel supply and a miniature pressure sensor for detailed combustion diagnostics. The engine was operated at constant speed, fully open throttle valve and four different fueling modes with or without spark discharge. A partly motored mode allowed direct evaluation of the pre-chamber heat release. The experimental data acquired in this research served as a validation data for the numerical simulations. The performed tests of prototypes and calculations have recently been expanded to include 3-D flow calculations in the Ansys Fluent software.
2017-09-04
Technical Paper
2017-24-0112
Guanyu Zheng
Abstract Urea injection is required to meet EU IV to EU VI emission regulations as a main stream technical route to reduce nitrogen oxides (NOx). In heavy and medium duty trucks, compressed air at 3-5 bar is often available, therefore can assist urea injection by mixing with urea, forming liquid droplets, and releasing mixed fluid into the exhaust gases. The development of air assisted urea pump and injectors, or the assembly, seemingly simpler than airless counterparts, however poses multiple challenges. One challenge is to properly mix urea in the mixing chamber inside pump with the compressed air, leaving no residual deposits while achieving high mixing efficiency. Another is to maintain good spray quality for a given length of delivery pipe as the liquid phase and gas phase tend to coalesce as they propagate along the pipe flow direction. In addition, the urea pump and injector need to provide robust and reliable performance under stringent road conditions.
2017-09-04
Technical Paper
2017-24-0018
Nikiforos Zacharof, Georgios Fontaras, Theodoros Grigoratos, Biagio Ciuffo, Dimitrios Savvidis, Oscar Delgado, J. Felipe Rodriguez
Abstract Heavy-duty vehicles (HDVs) account for some 5% of the EU’s total greenhouse gas emissions. They present a variety of possible configurations that are deployed depending on the intended use. This variety makes the quantification of their CO2 emissions and fuel consumption difficult. For this reason, the European Commission has adopted a simulation-based approach for the certification of CO2 emissions and fuel consumption of HDVs in Europe; the VECTO simulation software has been developed as the official tool for the purpose. The current study investigates the impact of various technologies on the CO2 emissions of European trucks through vehicle simulations performed in VECTO. The chosen vehicles represent average 2015 vehicles and comprised of two rigid trucks (Class 2 and 4) and a tractor-trailer (Class 5), which were simulated under their reference configurations and official driving cycles.
2017-08-25
Technical Paper
2017-01-7000
J. Marcos Garcia de la Cruz, Rowan D. Brackston, Jonathan F. Morrison
Abstract Road vehicles usually operate within windy environments. The combination of typical wind distributions and vehicle speeds, imposes on such vehicles aerodynamic yaw angles, β, which are often almost uniform up to 6° and relevant up to 14°. Drag saving devices are often optimized for zero cross-wind scenarios, minimizing drag only around these design conditions. This work presents the drag saving increase that an adaptive system can provide over a classic boat-tail. In the experimental set up employed, two flaps are located at the rear lateral edges of an Ahmed body and respectively set at angles θ1 and θ2 with respect to the model. To evaluate the efficacy of different flap positioning strategies under cross-wind, the model was tested in a wind tunnel, , with and without flaps at yaw angles β = 0°, 3°, 6° or 9°. The flap sizes tested, δ, were 9% or 13% of the body width. For each β and δ, the maps of drag against the two flap angles were obtained.
2017-08-25
Technical Paper
2017-01-7001
Johannes Haff, Mattias Jönsson, Sigfried Loose, Claus Wagner
Abstract The improved performance of heavy-duty vehicles as transport carriers is essential for economic reasons and to fulfil new emission standards in Europe. A key parameter is the aerodynamic vehicle drag. An enormous potential still exists for fuel saving and reducing exhaust emission by aerodynamic optimisation. Engineering methods are required for developments in vehicle aerodynamics. To assess the reliability of the most common experimental testing and numerical simulation methods in the industrial design process is the objective of this article. Road tests have been performed to provide realistic results, which are compared to the results obtained by scale-model wind tunnel experiments and time-averaged computational fluid dynamics (CFD). These engineering methods are evaluated regarding their deployment in the industrial development process. The investigations focus on the separated flow region behind the vehicle rear end.
2017-07-10
Technical Paper
2017-28-1925
Asif Basha Shaik Mohammad, Ravindran Vijayakumar, Nageshwar Rao Panduranga
Abstract The automotive market has seen a steady increase in customer demands for quiet and more comfortable tractors. High noise at Operator Ear Level (OEL) of tractor is the major cause of fatigue to the operator. With growing competition, and upcoming legislative requirement there is ominous need for the agricultural tractor manufacturers to control noise levels. The objective of this study is noise reduction on agricultural tractor by stiffening sheet metal components. The design and analysis plays a major role for determining the root cause for the problem. Once the problem and its root cause were well defined, the solution for addressing the problem would be made clear. The engine excitation frequency and Sheet metal Components such as fender and platform natural frequency were coming closer and are leading to resonance.
2017-07-10
Technical Paper
2017-28-1947
Suresh Kumar Kandreegula, Kamal Rohilla, Naveen Sukumar, Kunal Kamal
Abstract A propeller shaft is a mechanical component of drive train that connects transmission to drive wheels/axle with the goal to transfer rotation and torque. It is used when the direct connection between transmission and drive axle is not possible due to large distance between their respective assigned design spaces. In commercial vehicles especially in heavy duty (GVW/GCW>15 tons) a single piece propeller shaft is seldom used due to its inherent disadvantages and therefore, most if not all, of the setups consists of multiple pieces of propeller shaft which are directly mounted on to frame cross members with the help of mounting brackets. As such the mounting bracket assembly undergoes various dynamic and static loading conditions and should be able to withstand these loads. This paper will focus on the FEA analysis of propeller shaft mounting assembly system.
2017-07-10
Technical Paper
2017-28-1976
Suresh Kumar Narayana Rao
Abstract The utility of tractors in India has grown and is growing. Other than in agricultural area, it finds use in non-agricultural and construction/ earthmoving applications like loaders, dozers, power source, etc. The tractors that are subjected to heavy duty cycles are mostly with conventional dry type clutches. These types of dry clutch when operated in heavy application generate large amount of heat within shorter period of time on the surface of friction discs. This increase in disc surface temperature weakens the friction material property & bonding element leading to deterioration and decreasing the life of clutch. This curtails the clutch life extensively and is a big challenge to farmers and tractor users. The frequent clutch failures not only increases the operating cost, but also the servicing of clutches in the tractor fitted with heavy attachments leads to a higher downtime and service cost.
2017-07-10
Technical Paper
2017-28-1921
Jyotirmoy Barman
Abstract Engine down speeding is rapidly picking up momentum in many segment of world market. Numerous engine down speeding packages from OEM have been tailored to take advantage of the increased efficiencies associated with engine down speeding. Running engine at lower rpm has numerous advantages. The most obvious of these is reduced fuel consumption, since the engine can spend more time running within its optimum efficiency range. By down speeding, the engine is made to run at low speeds and with high torques. For the same power, the engine is operated at higher specific load- Brake Mean Effective pressure (BMEP) which results in higher efficiency and reduced fuel consumption-Brake Specific Fuel Consumption (BSFC). The reasons for increased fuel efficiency are reduced engine friction due to low piston speeds, reduced relative heat transfer and increased thermodynamic efficiency.
2017-07-10
Technical Paper
2017-28-1945
Jyotirmoy Barman, Himanshu Gambhir, Rizwan Khan
Abstract During the last few decades, concerns have grown on the negative effects that diesel particulate matter has on health. Because of this, particulate emissions were subjected to restrictions and various emission-reduction technologies were developed. It is ironic that some of these technologies led to reductions in the legislated total particulate mass while neglecting the number of particles. Focusing on the mass is not necessarily correct, because it might well be that not the mass but the number of particles and the characteristics of them (size, composition) have a higher impact on health. During the diesel engine combustion process, soot particles are produced which is very harmful for the atmosphere. Particulate matter is composed of much organic and inorganic composition which was analyzed after the optimization of SCR and EGR engine out.
2017-06-28
Journal Article
2017-01-9181
Zhongming Xu, Nengfa Tao, Minglei Du, Tao Liang, Xiaojun Xia
Abstract A coupled magnetic-thermal model is established to study the reason for the damage of the starter motor, which belongs to the idling start-stop system of a city bus. A finite element model of the real starter motor is built, and the internal magnetic flux density nephogram and magnetic line distribution chart of the motor are attained by simulation. Then a model in module Transient Thermal of ANSYS is established to calculate the stator and rotor loss, the winding loss and the mechanical loss. Three kinds of losses are coupled to the thermal field as heat sources in two different conditions. The thermal field and the components’ temperature distribution in the starting process are obtained, which are finally compared with the already-burned motor of the city bus in reality to predict the damage. The analysis method proposed is verified to be accurate and reliable through comparing the actual structure with the simulation results.
2017-06-27
Journal Article
2017-01-9179
Mike Liebers, Dzmitry Tretsiak, Sebastian Klement, Bernard Bäker, Peter Wiemann
Abstract A vital contribution for the development of an environmental friendly society is improved energy efficiency in public transport systems. Increased electrification of these systems is essential to achieve the high objectives stated. Since the operating range of an electrical vehicle is heavily influenced of the available energy, which primarily is used for propulsion and thermal passenger comfort, all heat losses in the vehicle systems must be minimized. Especially for urban buses, the unwanted heat losses through open doors while passengers are boarding, have to be controlled. These energy fluxes are due to the large temperature gradients generated between in- and outdoor conditions and to install air-walls in the door opening areas have turned out to be a promising technical solution. Based on air-wall technologies used for climate control in buildings, this paper presents an experimental investigation on the reduction of heat losses in the door opening of urban buses.
2017-06-05
Technical Paper
2017-01-1833
Bonan Qin, Jue Yang, Xinxin Zhao
Abstract Articulated engineering vehicle travels on complex road, its working condition is bad and because of the non-rigid connection between the front and rear body, additional DOF is brought in and the transverse stiffness is relatively weak. When the articulated vehicle runs in a high speed along a straight line, it is easy to cause the transverse swing and the poor handling stability. If it is serious enough, it will lead to "snakelike" instability phenomenon. This kind of instability will increase driving resistance and tire wear, the lateral dynamic load and aggravate the damage of the parts. The vehicle will have a lateral migration of center of gravity (CG) when steering, which will lead a higher probability of rollover accident. A dynamic mathematical model for a 35t articulated truck with four motor-driven wheels was established in this paper, to study the condition for its stable driving and the influence of the vehicle structural parameters.
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