Self-oscillations in the braking process of a vehicle

Abstract

The motion of a vehicle after blocking the wheels whose slip on a road is described by a model of nonlinear viscous friction with a falling segment of the characteristic is considered. The model in use approximates the dry friction model when the friction of rest exceeds the sliding friction. In this case, the self-oscillations of wheels are observed at some stages of the braking process under the appropriate initial conditions of motion. These self-oscillations generate a periodically varied tangential loading on the road surface, which may cause the appearance of a wavy relief on this surface. Such a wavy relief is most often observed on soil roads at the turns during the intensive braking process. The study of the character of motion is illustrated by numerical examples for the Lagrange equations of the second kind and for the equations derived by the method of averaging the canonical equations written in the action angle variables.