Linear and Non-linear Hheel Slip Hypothesis in Studying Stationary Modes of a Double Road Train

The problem of determining stationary modes of a double road train consisting of when a two-axle tractor and a semi-trailer is considered. The set of stationary modes of the system with different values of the front wheels turning angle are defined (linear and non-linear wheel slip hypothesis are considered). Different stationary modes has been determined by using different methods: for a non-linear model with the linear tread distortion theory. The linear model obtained the analytical dependencies of the phase variables on the turning angle of the guided wheels, for a non-linear model with non-linear wheel slip theory – iterative method. The paper aims to define the set of stationary states of the double road train model when the controlled parameters are changed when using different methods and to analyze the results obtained. The peculiarity of this work is represented by the software-computational base, which makes it possible when based on the linear wheel slip hypothesis to investigate all the variety of the stationary states of the road train model when the controlled parameters of the system change. As a result of the simulation of the motion of the road train, the values of phase variables of the received modes it can be concluded that near the rectilinear motion (wheel slipper interval -0.2<θ<0.2) the linear model can completely replace the non-linear model without misrepresenting any numerical analysis.