Research Papers

Nonlinear Dynamic Behavior of a Heavy Articulated Vehicle With Magnetorheological Dampers

[+] Author and Article Information
Javad Fakhraei

Department of Mechanical Engineering,
Isfahan University of Technology,
Isfahan 84156-83111, Iran
e-mail: j_fakhraee@yahoo.com

Heshmatallah Mohammad Khanlo

Department of Aerospace Engineering,
Shahid Sattari Aeronautical University
of Science and Technology,
Tehran 13846-63113, Iran
e-mail: khanloh47@yahoo.com

Reza Dehghani

Department of Mechanical Engineering,
Graduate University of Advanced Technology,
Kerman 76311-33131, Iran
e-mail: r.dehghani@kgut.ac.ir

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received September 4, 2016; final manuscript received December 18, 2016; published online February 8, 2017. Assoc. Editor: Paramsothy Jayakumar.

J. Comput. Nonlinear Dynam 12(4), 041017 (Feb 08, 2017) (10 pages) Paper No: CND-16-1417; doi: 10.1115/1.4035669 History: Received September 04, 2016; Revised December 18, 2016

The chaotic vibration analysis of a heavy articulated vehicle (HAV) under consecutive speed control humps (SCHs) excitation is studied. The vehicle is modeled as a nonlinear half-truck oscillatory system with three axles. The suspension system between the truck bodies and axles is equipped with passive viscous damper and magnetorheological (MR) damper. The consecutive SCHs-speed coupling excitation function is presented by a half-sine wave with constant amplitude and variable frequency. The nonlinear dynamic behavior of the system is investigated by special respective techniques. Also, the ride comfort is assessed by the RMS value of truck bodies' accelerations. The results reveal that the quasi-periodic motion is observed at lower speeds when the truck moves on SCHs without load; while in the presence of the load, the dynamic characteristics of the system confirm the chaotic vibration possibility in a widespread range at higher speeds. Further studies indicate that the chaotic behaviors can directly affect on driving comfort and lead to the ride comfort becoming lower. The obtained results can be helpful in designing the oscillatory system for the heavy vehicles to preserve the comfort of drivers and the protection of load.

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Grahic Jump Location
Fig. 1

Schematic diagram of a nonlinear half-truck oscillatory model

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Fig. 2

Bifurcation diagrams versus speed: (a) tractor heave, (b) tractor pitch, (c) trailer heave, (d) trailer pitch, and (e) articulation point displacement

Grahic Jump Location
Fig. 3

(a) Time series, (b) phase plane portrait, (c) power spectrum, and (d) Poincaré map of heave motion of tractor at v = 26 km/h

Grahic Jump Location
Fig. 4

(a) Time series, (b) phase plane portrait, (c) power spectrum, and (d) Poincaré map of pitch motion of trailer at v = 28 km/h

Grahic Jump Location
Fig. 5

Bifurcation diagrams versus speed: (a) tractor heave, (b) tractor pitch, (c) trailer heave, (d) trailer pitch, and (e) articulation point displacement

Grahic Jump Location
Fig. 6

The phase plane portrait, power spectrum, and Poincaré map at v = 39 km/h: (a) tractor heave, (b) tractor pitch, (c) trailer heave, and (d) trailer pitch

Grahic Jump Location
Fig. 7

Max Lyapunov exponent of chaotic motion of system at v = 39 km/h

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Fig. 8

The autocorrelation function of trailer pitch for chaos state

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Fig. 9

The bifurcation and RMS vertical acceleration diagrams versus speed for (a) tractor and (b) trailer



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