MATHEMATICAL MODELLING OF TECHNOLOGICAL PROCESSES AND SYSTEMS
A model of an articulated vehicle (tractor with a trailer and/or semitrailer) formulated using joint coordinates and homogenous transformations is presented. Experimental measurements of yawing velocities of the vehicle units have been carried out for a sharp turn manoeuvre. These results are used to calibrate the mathematical models. Using optimisation methods the parameters of tires for the Dugoff-Uffelman model are chosen in such a way that the results of calculations and measurements are compatible.