Beloousov, B. and Ksenevich, T., "Modern and Future Motor Vehicles as Modular-Based Complexes of Mechatronic Systems," SAE Technical Paper 2012-01-1163, 2012, doi:10.4271/2012-01-1163.
The article presents results of comprehensive theoretical and experimental studies aimed at creation of traction-and-transport vehicles (TTVs) - trucks and tractors of the future, which meet the modern requirements for their active and environmental safety. The concept is based on the original complex mathematical model (CMM), which allows simulating various interaction schemes of all TTV systems, including those accounting for the contact (tribological) interaction of the wheel with the rolling surface. The CMM was used to study the work of all the subsystems of TTVs equipped with electric transmission, all-wheel steering and electro-hydraulic servo system of wheel turning, as well as with the wheel-springing system and the onboard information-and-control system. Besides, the CMM and its individual units were used as simulators for programming the functionality algorithms of all these subsystems and their relationships with each other. Based on theoretical studies, unique experimental prototypes of individual systems and of the TTV as a whole were built and experimentally verified. The main conclusion of the studies is the assertion that TTVs should be built as complexes of modular-based mechatronic systems. An ideal TTV is a mobile robot of universal functionality.