Abstract

The turning dynamic features to ensure stable and safe conditions of the TERA 240 truck are investigated using the four-wheeled planar dynamic model, in which the force components from 4 wheels are taken into account to build a computational model with the time-varying steering angle is used. The necessary input parameters of the TERA 240 vehicle for the vehicle planar dynamic model are determined on the basis of the available actual vehicle, with all 3 loading cases are noload, half-load and full-load. The kinematic and dynamic parameters describing the vehicle's planar turning motion are determined, resulting in the basement for evaluating the vehicle's motion stability. The calculation process is performed in the velocity domain to ensure the ultimate stability condition that the vehicle does not slide or overturn when turning. The obtained results are analyzed to evaluate the vehicle's turning stability performance, based on the variable relationship of the parameters in the investigated cases: turning radius is constant, velocity is constant, and steering angle is constant. The vehicle's turning stability is specifically defined: the vehicle is understeer with no-load case, the vehicle is oversteer with half-load and full-load cases.