Ways to increase the stability of the movement of cars at small and large angles of rotation of the controlled wheels

The controllability and stability of the car are the most important operational properties and components of the active safety of its movement. Currently, the issues of creating active security systems are actively engaged all over the world. The purpose of the work is to analyze ways to increase the stability of the movement of a two—axle wheeled vehicle at small and large angles of rotation of the controlled wheels. A new method is proposed for analyzing ways to increase the stability of a two-axle wheeled vehicle, characterized in that it allows, based on the application of the second Lyapunov method, to identify methods to increase the stability of movement at small and large angles of rotation of controlled wheels. The analysis of the stability of the movement of two-axle wheeled vehicles at large rotation angles of controlled wheels with various traction and steering drive schemes is carried out. It is proved that for a two-axle wheeled vehicle with all driving and steerable wheels at small angles, the corrective steering angle on the rear axle should be directed towards reducing the angle of rotation of the front wheels of the rear axle modulo and, in addition, the rotation of the rear steerable wheels should begin later than the rotation of the front, i.e. with a delay. Keywords: сontrollability and stability of wheeled vehicles; large rotation angles of the driven wheels; redistribution of torques