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Сборник научных статей ТРУДЫ НАМИ

Выпуск № 1 (268) / 2017 Издание выходит с 1923 года

Москва 2017 UDC 016:629.3 ISSN 0135-3152 LBC 31+34+39 COLLECTION OF SCIENTIFIC ARTICLES TRUDY NAMI ESTABLISHER AND PUBLISHER № 1 (268) / 2017 Federal State Unitary Enterprise “Central Scientific Research EDITOR-IN-CHIEF Automobile and Automotive Gaysin S.V. – Chief Executive Officer (CEO) of FSUE “NAMI” (, Russian Federation). Engines Institute” (FSUE “NAMI”) EDITORIAL BOARD Bakhmutov S.V. – D.Sc. (Eng), professor, Deputy Kotiev G.О. – D.Sc. (Eng), professor, Head of CEO for Science (Research) of FSUE “NAMI” – “Wheeled machines” department, Bauman Moscow Certificate of mass media registration deputy editor-in-chief (Moscow, Russian State Technical University (Moscow, Russian ПИ № ФС77-21162 from 30 May 2005 Federation). Federation). Kutenev V.F. – D.Sc. (Eng), professor, Chairman of Krasnevskiy L.G. – D.Sc. 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ДВИГАТЕЛЕСТРОЕНИЕ ENGINE DEVELOPMENT

Кутенёв В.Ф., Сонкин В.И. Kutenev V.F., Sonkin V.I. Бензиновые двигатели: тенденции развития 6 Gasoline engines: development trends

Жук А.З., Клеймёнов Б.В., Илюхина А.В. Zhuk A.Z., Kleymenov B.V., Ilyukhina A.V. Комбинированная энергоустановка 22 Combined power plant unit with air-aluminum power транспортного назначения source for transport purposes с воздушно-алюминиевым источником энергии

Кривцов С.Н., Зимин В.Г., Krivtsov S.N., Zimin V.G., Кривцова Т.И., Якимов И.В. 29 Krivtsova T.I., Yakimov I.V. Экспериментальное исследование влияния Experimental study of the electrohydraulic injectors технического состояния электрогидравлических technical condition effect on the fuel efficiency of a diesel форсунок на топливную экономичность автомобиля vehicle equipped with accumulator fuel-delivery system с дизелем, оснащённым аккумуляторной топливоподающей системой

АВТОМОБИЛЕСТРОЕНИЕ AUTOMOBILE DEVELOPMENT

Кириллов К.А. Kirillov K.A. Пожарная безопасность конструкции автобусов 37 Fire safety of high-capacity buses design большой вместимости

Малиновский М.П. Malinovskiy M.P. Предпосылки к разработке современных систем 53 Preconditions for the modern warning and autonomous предупреждающего и автономного systems development of traffic control управления движением Падалкин Б.В., Горелов В.А., Чудаков О.И. Padalkin B.V., Gorelov V.A., Chudakov O.I. Повышение энергоэффективности автопоезда 60 Increasing of road train energy efficiency in heavy road при движении в тяжёлых дорожных условиях за счёт conditions by means of rational parameters selection выбора рациональных параметров систем привода of trailer drive system прицепных звеньев

Родченков Д.А., Журавлёв А.В. Rodchenkov D.A., Zhuravlev A.V. Методика расчёта алгоритма включения 67 Procedure of calculation of the algorithm фрикционных сцеплений трактора и автомобиля of engagement of friction clutch of the tractor полной массой 6 т and vehicle of 6 t full mass

Балакина Е.В. 77 Balakina E.V. Определение положения максимума The definition of maximum position of φx – sx-diagrams

φx – sx-диаграммы для улучшения работы электронной to improve the electronic control braking system системы управления торможением performance

Пономарёв В.А., Мороз С.М. Ponomarev V.A., Moroz S.M. Применение в интеллектуальной транспортной 84 Radio Frequency IDentification of wheeled vehicles системе радиочастотной идентификации in Intelligent Transport System колёсных транспортных средств

Лихачёв Д.С., Тараторкин И.А., Харитонов С.А. Likhachev D.S., Taratorkin I.A., Kharitonov S.A. Экспериментальное исследование 92 Experimental study of dynamic loading of a vehicle динамической нагруженности трансмиссии transmission with a combined power unit автомобиля с комбинированной энергоустановкой

Нагайцев М.М., Харитонов С.А., Федоренков А.П. Nagaytsev M.M., Kharitonov S.A., Fedorenkov A.P. Методика экспериментальной проверки 107 Experimental verification methods of the possibility to возможности использования в качестве элементов use unsynchronized gear clutches as controls in automatic управления несинхронизированных зубчатых муфт planetary gearboxes в автоматических планетарных коробках передач Kutenev V.F., D.Sc. (Eng), professor Chairman of Expert Council1, Honored Worker of Science of the Russian Federation E-mail: [email protected] Sonkin V.I., engineer head of the Research department for spark ignition engines of Center power plant1 E-mail: [email protected] 1 Federal State Unitary Enterprise “Central Scientific Research Automobile and Automotive Engines Institute” (FSUE “NAMI”), Moscow 125438, Russian Federation Received 19 January 2017 Gasoline engines: development trends

The article provides an analytical overview of promising technical solutions for gasoline engines of

motor vehicles which is aimed at a significant reduction in fuel consumption and CO2 emissions of the exhaust gases. It is shown that the main development trend gasoline internal combustion engine (ICE) of a conventional vehicle is the growth of turbocharge use, accompanied by an increase in specific power

and a decrease in the ICE dimension, as well as by the decrease of fuel consumption and CO2 emissions preserving at the same time vehicle speed characteristics. The main tendency in improving the efficiency of the ICE is to increase the expansion (compression) ratio up to 13–15 units. To solve the problems of combustion detonation in the near future it is expected to expand and improve the existing technologies (gasoline direct injection, adjustable valve drive, vortex control), as well as to develop new technologies (Miller cycle, variable compression ratio, recirculation of cooled exhaust gases). The ways to improve the gasoline ICE hybrids depend on the degree of electrification of the actuator. With a relatively low degree of electrification of the ICE it is expected to improve starting and vibroacoustics efficiency together with the rise of efficiency by measures characteristic for conventional ICE. The higher the degree of electri- fication, the more important power, vibroacoustics, size and cost of the engine, while its structure and optimum control provide its high general efficiency. In the long term (after 2025) the probable direction of the further efficiency increase of ICE may be the realization of a lean homogeneous mixture combus- tion in the low-temperature combustion mode. The implementation of this tendency will depend on the

success in the development of efficient and low-cost NOx reduction technologies of lean burn products, as well as the use of high-speed and self-learning controlling systems.

Key words: gasoline engine, CO2, fuel consumption, gasoline direct injection, turbocharge, compression ratio, detonation For citation: Kutenev V.F., Sonkin V.I. [Gasoline engines: development trends]. Trudy NAMI, 2017, no. 1 (268), pp. 6–21. (In Russian)

References

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2. Annual mean CO2 concentration at Mauna Loa Observatory. National Oceanic and Atmospheric Administration.

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[Automobile engines. Ed. Khovakh M.S.]. Mashinostroenie Publ., 1977, 591 p. (In Russian) 16. Heywood J.B. Internal Combustion Engine Fundamentals. McGraw-Hill Inc., 1988. 930 p. 17. Bruce C. ’s new engine packs a variable geometry turbo. Available at: http://www.autoblog. com/2016/04/28/volkswagen-engine-variable-turbo-ea211-vienna/ (accessed 19 January 2017). 18. 2016 CX-9 shows 32% improvement in EPA-estimated fuel economy over predecessor; SKYACTIV-G 2.5 turbo. Available at: http://www.greencarcongress.com/2016/03/2016-mazda-cx-9-shows-32-improvement-in-epa- estimated-fuel-economy-over-predecessor-skyactiv-g-25-tu.html (accessed 19 January 2017). 19. Audi introduces new high-efficiency 2.0L TFSI based on Miller Cycle; 190 hp, 47 mpg. Available at: http://www. greencarcongress.com/2015/05/20150708-audi.html (accessed 19 January 2017). 20. Ter-Mkrtich’yan G.G., Kutenev V.F., Nikitin A.A. [Internal combustion engine]. Patent RF no. 2030608, 1990. (In Russian) 21. 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Engine technologies for achieving 45% thermal efficiency of S.I. engine. SAE International Journal Engines, 2016, no. 9, pp. 179–185. 27. Sonkin V.I., Artemov A.A., Ivanov D.A., Shustrov F.A. [Gasoline Engine with the Controlled Auto-ignition Combustion Process]. Trudy NAMI, 2010, no. 245, pp. 30–41. (In Russian) 28. Wagner R.M. Engines of the Future. Available at: https://www.asme.org/engineering-topics/articles/energy/en- gines-of-the-future (accessed 19 January 2017). 29. German J. Hybrid vehicles technology development and cost reduction. International Council on Clean Trans- portation, Technical Brief, 2015, no. 1, pp. 1–18. 30. Kawamoto N., Naiki K., Kawai T., Shikida T., Tomatsuri M. Development of new 1.8-liter engine for hybrid vehicles. SAE Paper, 2009, no. 2009-01-1061, pp. 1–9. 31. Fraidl G., Ebner P., Geiger U., Atzwanger M., Grantner H., Weissback M. Impact of electrification on the internal combustion engine. Proceedings Engine & Environment 2009: Combustion Engine and Electric Drive – Partners or Com- petitors in the Powertrain of the Future? 21st International AVL Conference “Engine & Environment”, September 10-11, 2009. Graz, Austria, 2009, pp. 175–186. 32. Beste F., Fischer R., Ellinger R., Pels T. The pure Range Extender as enabler for electric vehicle. Proceedings Engine & Environment 2009: Combustion Engine and Electric Drive – Partners or Competitors in the Powertrain of the Future? 21st International AVL Conference “Engine & Environment”, September 10-11, 2009. Graz, Austria, 2009, pp. 91–100. 33. Yamaguchi J. Steering Mazda’s unique course. Automotive Engineering, 2016, vol. 3, no. 8, pp. 18–22. Zhuk A.Z., D.Sc. (Phys.-Math.) Deputy Director1 E-mail: [email protected] Kleymenov B.V. Deputy Head of laboratory1 E-mail: [email protected] Ilyukhina A.V., PhD (Chem) Head of laboratory1 E-mail: [email protected] 1 Joint Institute for High Temperatures of the Russian Academy of Sciences (JIHT RAS), Moscow 125412, Russian Federation Received 14 November 2016 Combined power plant unit with air-aluminum power source for transport purposes

The work is devoted to the development and investigation of high-efficiency combined power units (CPU) for transport purposes on the basis of energy source (air-aluminum electrochemical generator – AA ECG) and power source (lithium-ion batteries – LIB). In this work the engineering approaches and technical solutions implemented in the creation of the AA ECG and CPU have been described. The results of volt-ampere and discharge tests of AA ECG module are presented, the maximum power of which is 1.5 kW and the specific energy consumption is 270 (W·h)/kg. The scheme of the CPU with two modules of AA ECG has been developed and implemented. Tests of the CPU with an energy capacity of 46 kW·h on the test bench simulating vehicle movement were carried out. For a vehicle weighing 1,800 kg, the distribution of energy flows in the CPU was obtained in the simulation of movement in accordance with the ISO/CD8714 cycle. The cycle energy consumption (183 W·h) was determined as well as the power reserve at one refilling (265 km). An example of CPU installation on the platform of an electric vehicle GEM was given. At a lower cost the combined power units being developed outperform the known analogs in the set of basic energy parameters – specific power and specific energy capacity. Key words: electrochemical unit for transport purposes, air-aluminum generator, lithium-ion batteries For citation: Zhuk A.Z., Kleymenov B.V., Ilyukhina A.V. [Combined power plant unit with air-aluminum power source for transport purposes]. Trudy NAMI, 2017, no. 1 (268), pp. 22–28. (In Russian)

References

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Fuel economy of the vehicle is a very important performance indicator characterizing the road trans- port operating efficiency. Therefore, its timely monitoring with the purpose of diagnostics is an urgent task. The more the mileage of the vehicle, the worse the technical condition of the accumulator fuel- delivery system (AFDS) and as a result it affects the amount of fuel consumption, but the relationship between these quantities has not been practically investigated. The article is devoted to the experimental study of the technical condition influence of the AFDS vehicles electrohydraulic injectors. Among the available methods for measuring fuel consumption, the preference was given to its direct measurement, which meant the difference in the amount of fuel which passed through the forward and return lines, the volumetric flow was measured by means of sensors with oval gears. The sensors were characterized by high reproducibility of results, stable indicators at high temperature (on average up to 80°C) and sufficient measurement accuracy (1%). The information on the passed way, speed and acceleration of the vehicle was provided by the standard sensor of the angular speed of the anti-lock braking system from the driven wheel operating without a withdrawal. The experiments were carried out both in steady motion and at acceleration of the vehicle on a smooth asphalt concrete cover with a fully depressed fuel delivery pedal. The technical condition of the electrohydraulic injectors had been previously determined in bench conditions, after which they were installed on the vehicle (GAZ-2217) and check-in tests were conducted. The paper presents the test results of a vehicle with a AFDS equipped with injectors both in a nominal technical condition and in a close to limited technical condition, as the most interesting from the diagnostic point of view. Key words: transport vehicle, accumulator fuel-delivery system, fuel efficiency, electrohydraulic injector, diagnostics, check-in tests For citation: Krivtsov S.N., Zimin V.G., Krivtsova T.I., Yakimov I.V. [Experimental study of the elec- trohydraulic injectors technical condition effect on the fuel efficiency of a diesel vehicle equipped with accumulator fuel-delivery system]. Trudy NAMI, 2017, no. 1 (268), pp. 29–36. (In Russian) References

1. Golovnykh I.M. [Reserves and methods of fuel savings in the transport of goods by road]. Irkutsk, IrGTU Publ., 1996. 214 p. (In Russian) 2. [GOST R 54810-2011 Motor vehicles. Fuel economy. Test methods]. Moscow, STANDARTINFORM Publ., 2012. 23 p. (In Russian) 3. Vershinin O.S. [The system for measuring fuel consumption in vehicles under operating conditions and its hard- ware implementation. Cand. eng. sci. diss.]. Kazan, 2009. 150 p. (In Russian) 4. Blokhin A.N., Molev Yu.I., Moshkov P.S., Tikhomirov A.N. [Comparative analysis of definitions of vehicle fuel consumption using device DFL3X-5BAR and calculation method by meens using data diagnostic OBD II protocol]. Sovremennye problemy nauki i obrazovaniya, 2015, no. 1-1, p. 21. (In Russian) 5. Krivtsov S.N., Zimin V.G., Malashkin I.V. [Justification of the method for measuring fuel consumption by a vehicle with a diesel equipped with a battery fuel supply system in road conditions]. [Transport systems of Siberia. Development of the transport system as a catalyst for the growth of the state economy. International Scientific and Prac- tical Conference (Krasnoyarsk, April 7-8, 2016): collection of scientific papers, Part 2]. Krasnoyarsk, Siberian Federal University Publ., 2016, pp. 515–520. (In Russian) 6. Tsimbalin V.B., Kravets V.N., Kudryavtsev S.M., Uspenskiy I.N., Peskov V.I. [Vehicle Tests]. Moscow, Mashi- nostroenie Publ., 1978. 199 p. (In Russian) 7. Fedotov A.I., Vlasov V.G., Krivtsov S.N. [Calculating of high-speed losses of automobile tires in exploitation conditions]. Avtomobil’naya promyshlennost’, 2012, no. 9, pp. 16–19. (In Russian) 8. Fedotov A.I. [Fundamentals of the theory of the operational properties of a vehicle]. Irkutsk, IrGTU Publ., 2016. 28 8 p. (In Russian) 9. Genta G. (Giancarlo) Motor vehicle dynamics: modeling and simulation. World Scientific Publishing Co. Pte. Ltd. 2006. 537 p. 10. Pelikhov A.V. [Increase of traction and fuel and economic parameters of vehicles with diesel on the basis of determination and adjustment of the injection advance angle by the dynamic method. Cand. eng. sci. diss.]. Ulan-Ude, 2003. 222 p. (In Russian) Kirillov K.A. Deputy Director “PTIA-FOND”, head of vehicle safety laboratory “PTIA-AVTO”, the expert on certification of products, The noncommercial organization Interbranch fund “Supporting the technical initiatives of vehicles owners”, Moscow 127434, Russian Federation E-mail: [email protected] Received 04 October 2016 Fire safety of high-capacity buses design

Fire safety issues of vehicles indicate the need for joint efforts of experts in the field of transport safety. The place of fire safety in the vehicle structure is determined on the basis of the technical regula- tion definition in the automotive industry. The statistics of fires in motor vehicles for 5 years has been collected and analyzed. Particular attention has been paid to the analysis of fires in buses since 2001. The main causes and locations of bus fires were considered. Operating requirements for the fire safety of buses were detailed on the basis of the technical regulations. According to the results of the GRSG expert group, at the World Forum WP.29 a table of the UN Rules was presented which included the is- sues referring to the overall safety of the vehicle and the rules of technical regulation of high-capacity buses fire safety. The key tendencies and dangerous places requiring additional study were identified at «FIVE» conference. International research results on similar issues were taken into consideration, includ- ing tests on evacuation conditions (Hungary), automatic fire extinguishing system (Sweden), as well as advanced composite materials. Vehicle protection against fire by means of automatic fire extinguishing systems was proposed, including special equipped vehicles (wheelchairs, buses for transporting children, vehicles for transportation of money and valuable cargo, vehicles for transportation of dangerous goods). Recommendations for equipping buses with automatic fire extinguishing systems together with methods of testing such systems were made and included in the amendments to UN Regulation N 107. The further development of the UN Regulation N 110 was outlined considering the incidents in the Netherlands and improving the UN Regulation N 118 methods by adding more rigid requirements existing for railway and sea transport. The conclusions contain proposals to improve the situation. The statistics of bus fires with their reference to their occurrence and causes in the Russian Federation was presented and the ways of fire safety further development of the object under study considering international research were suggested. Key words: fire safety, evacuation conditions, bus, tests For citation: Kirillov K.A. [Fire safety of high-capacity buses design]. Trudy NAMI, 2017, no. 1 (268), pp. 37–52. (In Russian)

References

1. Kisulenko B.V., Gusakov N.V. [Technical regulation in the automotive industry: Dictionary-reference]. Moscow, Mashinostroenie Publ., 2008. 272 p. (In Russian) 2. Gudkov V.A., Komarov Yu.Ya., Ryabchinskiy A.I., Fedotov V.N. [Safety of vehicles]. Moscow, Goryachaya liniya-Telekom Publ., 2010. 431 p. (In Russian) 3. [Information system “Tekhekspert: 6 pokolenie” Intranet]. Available at: http://lab2.cntd.ru/ (accessed 04 October 2016). (In Russian) 4. Sibirko V.I., Chaban N.G., Zagumennova M.V., Chechetina T.A. [Complex analysis of the situation with the fires that occurred in the Russian Federation in 2006-2015. Proposals to improve the situation with fires in Russian Federation]. Balashiha, FGBU VNIIPO Publ., 2016. 111 p. (In Russian) 5. Kapustin A.V. [Technical inspection as an element of vehicle safety]. Available at: http://autoengineer.org/ meropriyatiya/materials/konferenciya-aai-95.html (accessed 04 October 2016). (In Russian) 6. [Distribution of fires in the Russian Federation occurred in 2012-2014, by types of vehicles]. Available at: https:// sites.google.com/site/statistikapozaro/home/rezultaty-rascetov/pozary-transportnyh-sredstv (accessed 04 October 2016). (In Russian) 7. Kirillov K.A. [Regulatory prospects and some monitoring results of a vehicle design and its technical condition in operation]. Trudy NAMI, 2016, no. 265, pp. 66–75. (In Russian) 8. Iskhakov Kh.I., Pakhomov A.V., Kaminskiy Ya.N. [Fire safety of vehicle]. Moscow, Transport Publ., 1987. 87 p. (In Russian) 9. Bus fire and evacuation tests. Available at: http://www.unece.org/fileadmin/DAM/trans/doc/2006/wp29grsg/ECE- TRANS-WP29-GRSG-91-inf10e.pdf (accessed 04 October 2016). 10. Kopylov S.N., Kushchuk V.A., Poltavets D.V. [Fire safety of vehicles]. Tekhnologii grazhdanskoy bezopasnosti, vol. 6, 2009, no. 1-2 (19-20), pp. 88–93. (In Russian) 11. Hamins A. Vehicle Fire Suppression Research Needs. NISTIR 7406, National Institute of Standards and Technology. U.S. Department of Commerce. Available at: http://fire.nist.gov/bfrlpubs/fire07/PDF/f07010.pdf (accessed 04 October 2016). 12. Rosén F. Improving Fire Safety of Buses and Coaches. Available at: http://www.metro-magazine.com/article/ story/2011/08/improving-fire-safety-of-buses-and-coaches.aspx (accessed 04 October 2016). 13. SP Technical Research Institute of Sweden. SP Method 4912: Method for testing the suppression performance of fire suppression systems installed in engine compartments of buses and coaches. Available at: http://www.dafo.se/ globalassets/document-archive-en/standards-and-guidelines/sp-method-4912 (accessed 04 October 2016). 14. Experts from the Netherlands. UN Regulation No. 110 – CNG vehicles, UN Regulation No. 118 – Burning behaviour. Informal document from the 105th GRSG, Agenda item 9. Available at: http://www.unece.org/fileadmin/ DAM/trans/doc/2013/wp29grsg/GRSG-105-10e.pdf (accessed 04 October 2016). 15. Joustra T.H.J., Muller E.R., Meurs P.L. Fire in a CNG bus. Report by the Dutch Safety Board. Available at: https://ru.scribd.com/document/237992219/Fire-in-A-CNG-Bus-Netherland (accessed 04 October 2016). 16. UN Regulation N 118 Uniform technical prescriptions concerning the burning behaviour and/or the capability to repel fuel or lubricant of materials used in the construction of certain categories of motor vehicles. Available at: https:// library.fsetan.ru/doc/pravila-eek-oon-n-118-edinoobraznyie-predpisaniya-kasayuschiesya-harakteristik-goreniya- materialov-ispolzuemyih-v-konstruktsii-vnutrennih-elementov-mehanicheskih-transportnyih-sredstv-opredelennyih- kategorij/ (accessed 04 October 2016). (In Russian) 17. Fire safety in buses. Available at: http://www.unece.org/fileadmin/DAM/trans/doc/2007/wp29grsg/ECE- TRANS-WP29-GRSG-92-inf18e.pdf (accessed 04 October 2016). Malinovskiy M.P., PhD (Eng), associate professor Department of haulers and amphibious machines, Moscow Automobile and Road Construction State Technical University (MADI), Moscow 125319, Russian Federation E-mail: [email protected] Received 30 November 2016 Preconditions for the modern warning and autonomous systems development of traffic control

The issue of increasing the active safety of vehicles, especially buses and freight lorry trains, despite numerous developments in this area, remains relevant for a number of reasons, among which the author calls the constant increase in the fleet, a fragmented approach to the development of active safety systems, and the reverse effect from their implementation. This phenomenon is caused by the desire of drivers to make the vehicle stability as high as possible, reduce the concentration of their attention independent of the general level of their skill. The author summarizes the new interconnections in the “driver – vehicle – road – environment” system, conditioned by the influence of the human factor. An evolutionary analysis of the active safety systems development has been carried out by methods of scientific deduction and induction. The purpose of the work was to determine the functional composition of the innovative active safety system based on the warning method of traffic control, the main positions of which were a complex functional composition, preventive nature of the action and unlimited adaptability to the driver’s actions including the emergency situations in the process of vehicle movement. Organizational and technical ways of solving the human factor problem in the field of road safety have been indicated. Modern problems of development and introduction of vehicles autonomous control, in particular, insufficient accuracy and stability of navigation technologies, the complexity of compiling virtual maps, poor quality of road marking, climatic features, as well as legal and social aspects were formulated. A new classification of active safety systems in four directions of development was made. The basic and additional functions of the traffic control system for vehicles were listed. Key words: constructive safety, active safety systems, “driver – vehicle – road – environment” system, reverse effect, autonomous control, fullerene, a warning method of driving control For citation: Malinovskiy M.P. [Preconditions for the modern warning and autonomous systems develop- ment of traffic control].Trudy NAMI, 2017, no. 1 (268), pp. 53–59. (In Russian)

References

1. Gribanov D.D., Vereshchagin S.B. [Effect of temperature and ecological factors on the driver]. Kachestvo i zhizn’, 2015, no. 2, pp. 85–87. (In Russian) 2. Gladov G.I., Demidov L.V. [Estimated figures and calculation maneuverability for semi-trailer articulated ve- hicle]. Moscow, MADI Publ., 2016. 124 p. (In Russian) 3. Rotenberg R.V. [Basics of the reliability of the driver-vehicle-road-environment system]. Moscow, Mashinostroe- nie Publ., 1986. 216 p. (In Russian) 4. Trofimenko Yu.V., Shashina E.V. [Influence of the human factor in road-traffic safety]. Bezopasnost’ zhiznedeyatel’nosti, 2016, no. 1, pp. 24–27. (In Russian) 5. Mayboroda O.V., Bragina I.V., Barkov A.A. [The influence of speed properties on the efficiency of driving].Avto - transportnoe predpriyatie, 2015, no. 6, pp. 45–50. (In Russian) 6. Chubukov A.B., Kapitanov V.T., Monina O.Yu., Kosheleva P.I. [Qualitative and quantitative analysis of accidents in the Russian Federation]. Nauka i tekhnika v dorozhnoy otrasli, 2012, no. 4, pp. 29–32. (In Russian) 7. Malinovskiy M.P. [Method of active safety improvement by preventive motion control of articulated vehicle. Cand. eng. sci. diss.]. Moscow, 2009. 157 p. (In Russian) 8. Zhankaziev S.V. [Intellectual transport systems]. Moscow, MADI Publ., 2016. 120 p. (In Russian) 9. Zhankaziev S.V., Vorob’ev A.I. [Development of a neural expert network for assessing the suitability of a road sec- tion for installing a dynamic information board]. Avtotransportnoe predpriyatie, 2010, no. 11, pp. 37–39. (In Russian) 10. Buznikov S.E., Elkin D.S. [The problem of identifying the status of the controls of the vehicle]. Novye informat- sionnye tekhnologii v avtomatizirovannykh sistemakh, 2009, no. 12, pp. 184–195. (In Russian) Padalkin B.V., PhD (Eng) First Vice-Rector1 Gorelov V.A., D.Sc. (Eng) Head of the Department “Multi-purpose tracked machines and mobile robots”1 Chudakov O.I. assistant of the Department “Wheeled vehicles”1 E-mail: [email protected] 1 Bauman Moscow State Technical University, Moscow 105005, Russian Federation Received 24 November 2016 Increasing of road train energy efficiency in heavy road conditions by means of rational parameters selection of trailer drive system

For the development of various sectors of the economy and ensuring the defense the effective de- livery of indivisible bulky and heavy items whose weight can reach hundreds of tons is of particular importance. A special role in solving this problem is given to convoys, because this kind of goods can be transported on public roads only with the help of them. On off-roads it can be done only partly. In general, the increase in transport efficiency is achieved by increasing efficiency and reducing trans- portation costs. The efficiency of road trains is determined by their average speed and lifting capacity. However, the possibility of using road trains in difficult driving conditions is significantly limited by the lack of maneuverability and inability of their widespread use in off-road areas. Another factor reducing the efficiency of road trains is the longitudinal sloping of roads. When moving up the hill even a four- wheeled tractor-trailer may have limited motion ability because of the coupling weight coefficient, and, consequently, insufficient traction. To achieve the improved pass ability of the road train it is possible by increasing the number of drive wheels which is achieved through its use as an active trailer. To compare the dynamic characteristics of the road train with passive and active semitrailer a mathematical model of two-chain road train dynamics as part of the four-axle and three-axle semi-trailer has been created. The results of theoretical studies of the road train rising motion conditioned by different variants of the drive wheels of the semitrailer were given. The direction of future research is the synthesis of rational law controlling the semitrailer drive system. Key words: active semi-trailer, transmission, individual drive, wheel propulsion, pass ability, mathemati- cal model, simulation For citation: Padalkin B.V., Gorelov V.A., Chudakov O.I. [Increasing of road train energy efficiency in heavy road conditions by means of rational parameters selection of trailer drive system]. Trudy NAMI, 2017, no. 1 (268), pp. 60–66. (In Russian)

References

1. Korkin S.N., Kurmaev R.Kh., Shukhman S.B. [Design of road trains with active trailer for traffic in heavy road conditions]. Zhurnal avtomobil’nykh inzhenerov, 2013, no. 5, pp. 34–37. (In Russian) 2. Belousov B.N., Shukhman S.B. [Applied mechanics of land traction vehicles with mechatronic systems]. Mos- cow, Agrokonsalt Publ., 2013. 612 p. (In Russian) 3. Zakin Ya.Kh., Shchukin M.M., Margolis S.Ya. [Design and calculation of road trains. Edited by Zakin Ya.Kh.]. Moscow, Mashinostroenie Publ., 1968. 331 p. (In Russian) 4. Belousov B.N., Popov S.D. [High-capacity wheeled vehicles]. Moscow, MGTU Publ., 2006. 728 p. (In Russian) 5. Shpak Yu.A., Pavlushkov B.E., Demik V.V., Kulakov N.A. [The special wheel chassis BAZ M 6910 E with elec- tric transmission]. Avtomobil’naya promyshlennost’, 2010, no. 10, pp. 9–10. (In Russian) 6. Kotiev G.O., Padalkin B.V. [Predicting the mobility of a special wheeled chassis at the design stage]. Inzhenernyy zhurnal: nauka i innovatsii, 2013, no. 3. Available at: http://engjournal.ru/eng/catalog/machin/transport/632.html (ac- cessed 18 January 2016). DOI: 10.18698/2308-6033-2013-3-632. (In Russian) 7. Zhileykin M.M., Seredyuk V.A. [A development of the distributive law of points on the multi-wheeled machine wheels with electro-mechanical transmission, made under the scheme “motor-axis”]. Nauka i obrazovanie, 2014, no. 5. Available at: http://technomag.bmstu.ru/en/doc/705516.html (accessed 18 January 2016). DOI: 10.7463/0514.0705516. (In Russian) 8. Rozhdestvenskiy Yu.L., Mashkov K.Yu. [On the formation of reactions during the rolling of an elastic wheel along a non-deformable surface]. Trudy MVTU, 1982, no. 390, pp. 56–64. (In Russian) 9. Larin V.V. [Theory of motion of all-wheel drive vehicles]. Moscow, MGTU Publ., 2010. 391 p. (In Russian) 10. Gorelov V.A. [Mathematical motion simulation of multi-link wheeled transport complexes subject to coupling devices]. Nauka i obrazovanie, 2012, no. 2. Available at: http://technomag.bmstu.ru/en/doc/343394.html (accessed 18 January 2016). (In Russian) 11. Shchukin M.M. [Hitch mechanism of vehicles and haulers: design, theory and calculation]. Moscow, MAShGIZ Publ., 1961. 209 p. (In Russian) Rodchenkov D.A., postgraduate design engineer, Department “Electronic devices”1 E-mail: [email protected] Zhuravlev A.V., PhD (Eng) head of the Division “Overall integration and layout”, Department “Tractors”1 E-mail: [email protected] 1 Federal State Unitary Enterprise “Central Scientific Research Automobile and Automotive Engines Institute” (FSUE “NAMI”), Moscow 125438, Russian Federation Received 09 December 2016 Procedure of calculation of the algorithm of engagement of friction clutch of the tractor and vehicle of 6 t full mass

Due to the lower cost, smaller size and high reliability the friction couplings are most widely used in automobiles and tractors designs. The article deals with the process of starting and accelerating the vehicle or tractor units equipped with electronic hydraulic control system of friction clutch with speed manual transmission. To start and accelerate smoothly without jerks and heavy loads in the transmis- sion a method of selecting algorithms of the clutch engagement has been developed. The selection of algorithms was done empirically, after which the data were tabulated. As a result, the best algorithm of coupling engagement was chosen. To control the clutch according to the chosen algorithm it was necessary to necessary to make changes in the design of its control system. For this purpose, a hydraulic cylinder was installed in the clutch control system. A mathematical model of the objective function optimization (minimization of the two criteria of quality) and restrictions (the angular velocity of the engine must not be below the tolerable, and the longitudinal acceleration of the vehicle or a tractor unit should not be above the normalized) was adopted together with the method of solving optimization problems. The method was based on the idea of a uniform compromise and it allowed to determine the optimal law of the coupling engagement. The use of automated clutch control option increases productivity and resource of the clutch, and therefore its economic efficiency. Also fuel and lubricants costs were reduced. The payback period of costs of an upgraded tractor or vehicle when compared to the baseline is 1.88 years. Key words: vehicle, tractor, coupling, clutch control, control automation, friction coupling For citation: Rodchenkov D.A., Zhuravlev A.V. [The development of the algorithm controlling the automatic clutch drive of the tractor and vehicles of 6 tons]. Trudy NAMI, 2017, no. 1 (268), pp. 67–76. (In Russian)

References 1. Malashkov I.I., Stefanovich Yu.G. [Research of clutch load mode]. Trudy NAMI, 1972, no. 135, pp.134–144. (In Russian) 2. Rodchenkov D.A. [Development of the system and algorithm for controlling the automatic traction drive of tractors of drawbar category 1.4. Master’s diss. Agroeng.]. Moscow, 2016. 76 p. (In Russian) 3. Rodchenkov D.A., Zhuravlev A.V. [Aspects of development of control algorithm of automatic clutch actuator of a tractor of drawbar category 1.4]. [Energy Efficiency and Traffic Safety Improving Intelligent Transport Systems: collection of papers of the 12th International Automotive Scientific Forum (IASF-2016)]. Available at: http://iasf16. nami.ru/program (accessed 09 December 2016). (In Russian) 4. Yurov M.D. [Modeling of dispersal of a vehicle and a tractor unit using a computer: Methodical instructions to laboratory works]. Lipetsk, LGTU Publ., 2011. 42 p. (In Russian) 5. Zangiev A.A., Shpil’ko A.V., Levshin A.G. [Operation of the machine and tractor]. Moscow, KolosS Publ., 2008. 320 p. (In Russian) 6. Kut’kov G.M. [Tractors and vehicles. Theory and technological properties]. Moscow, KolosS Publ., 2004. 504 p. (In Russian) 7. Gladkova G.A. [Optimization of the process parameters for the switching-on friction clutches of tractor transmissions. Cand. Eng. Sci. Extended abstract]. Minsk, 1995. 22 p. (In Russian) 8. Sharipov V.M. [Design and calculation of tractors: textbook]. Moscow, Mashinostroenie Publ., 2009. 752 p. (In Russian) 9. Sharipov V.M., Dmitriev M.I., Kryuchkov V.A. [On the question of the value of the frictional moment]. Traktory i sel’skokhozyaystvennye mashiny, 2008, no. 3, pp. 23–24. (In Russian) Balakina E.V., D.Sc. (Eng), professor Volgograd State Technical University, Volgograd 400005, Russian Federation E-mail: [email protected]; [email protected] Received 07 December 2016

The definition of maximum position of φx – sx-diagrams to improve the electronic control braking system performance

The choice of thresholds of electronic control adjustment of braking systems is oriented at the maxi-

mum of φx – sx-diagram. To specify the maximum position of φx – sx-diagram its forms under different conditions should be known. The majority of the vehicle motion modes are determined by the side force. In different cases the lateral force can occur before or after the wheel brake moment. The purpose of the article is to investigate the sequence effect of side force occurrence and the braking torque on the wheel

tire grip with a solid road surface and to study the maximum position of φx – sx-diagram. The author has developed techniques to take into account the sequence of appearance of the side force and torque of the

wheel when calculating φx – sx-diagrams. The research is based on the hypothesis according to which the proportion of the coefficient of adhesion implemented by the static friction in the contact area in the presence of lateral force is dependent on the proportionality coefficient of static friction. The formulas for the calculation of coupling coefficients for different slide sequence take into account the successive emergence of lateral force and braking torque of the wheel. The formulas are universal and can be applied

to all types of tyres, different kinds and conditions of road surface. The forms of φx – sx-diagram were studied at different sequence of side force occurrence and torque of the wheel. The essential influence of lateral force occurrence sequence and the torque of the wheel on friction properties of static and slid-

ing zones of the wheel tire contact with the road and the maximum position of φx – sx-diagram has been established. If the lateral force was prior to the beginning of braking the car (braking at turn, side wind, etc.), the maximum decrease of the friction coefficient was reduced in the preserved horizontal sliding position. If the lateral force appeared after the beginning of vehicle braking (braking while turning, side wind, etc.) its increase will cause reduction of the maximum friction coefficient at sliding displacement to the left. It has been established that the growth of the lateral force value from zero to a weight value

led to the peak change of φx – sx-diagrams up to 66% in the direction of smaller sliding. The results obtained can be applied in the creation and implementation of the wheeled vehicle control algorithms in the electronic active safety systems in order to increase traffic safety. Key words: vehicle, braking, electronic control of braking system, thresholds setting, interaction of the tyre with solid road surface, the sequence of appearance of the lateral force and the braking torque of the

wheel, coupling coefficient, the proportionality coefficient of static friction, forms of φx – sx-diagram,

the maximum position of φx – sx-diagram

For citation: Balakina E.V. [The definition of maximum position of φx – sx-diagrams to improve the electronic control braking system performance]. Trudy NAMI, 2017, no. 1 (268), pp. 77–83. (In Russian)

References

1. [Automotive Handbook: Translate from English]. Moscow, KZhI “Za rulem” Publ., 2004. 992 p. (In Russian) 2. Balakina Е.V., Zotov N.М., Fedin А.P. Classification and model analysis of elastic tire.Acta Technica [Acta Tech- nica CSAV (Ceskoslovensk Akademie Ved)], 2016, vol. 61, no. 3, pp. 317–331. 3. Bakker E., Pacejka H.B. The magic formula tyre model. Proc. 1st. Colloq. Tyre Models for Vehicle Dynamics Analysis, Delft, 1991. Amsterdam, Swits and Zeitlinger, 1993, pp. 1–18. 4. Mark Denny The dynamics of antilock brake systems. European Journal of Physics, 2005, vol. 26, no. 6, pp. 1007–1016. 5. Burckhardt M. Fahrwerktechnik: Radschlupf-Regelsysteme. Wurzburg, Vogel, 1993. 432 s. 6. Pacejka Hans B. Tire and vehicle dynamics. Elsevier Ltd, USA, 2012. 632 р. 7. Mohamed El-Nashar Vehicle Tire Road Forces. Deutschland, LAP LAMBERT Academic Publishing, 2010. 212 p. 8. Reza N. Jazar Vehicle dynamics: theory and application. Springer Science+Business Media, LLC, 2008. 1015 p. Ponomarev V.A. master1 E-mail: [email protected] Moroz S.M., D.Sc. (Eng), professor1 E-mail: [email protected] 1 Moscow Automobile and Road Construction State Technical University (MADI), Moscow 125319, Russian Federation Received 25 January 2017 Radio Frequency IDentification of wheeled vehicles in Intelligent Transport System

Identification technology applied to wheeled vehicles (WV) neither protects them against deliberate distortion of license plates nor provides the necessary information about the WV if it has not been included into the database before. Informatization and the need to reduce vehicles labor costs put forward a set of requirements to WV identification technologies which nowadays do not meet the technologies applied in Intelligent Transport System (ITS). To meet the ITS needs a Radio Frequency IDentification (RFID) is suggested which together with marking and attached to it updated and accumulated WV operation data includes a multi-stage procedure of the radio frequency scanning. WV electronic marking is supposed to be implemented by placing the identification data in numerous electronic control units installed in the WV and WV RFID tags. It is also suggested to place the registration, purpose, category, equipment, diagnostic norms and safety regulations data together with operating events of WV in the RFID tag and provide them with cryptographic protection in case they are queried by external information system. RFID tags of WV are to be linked with the onboard Local Area Network (LAN) and provide opportunities for renewal and replenishment both of variable registration data of WV and linked with them information. RFID will eliminate labor costs while seeking the data concerning purpose, configuration, diagnostic regulations, WV operating and is to provide automated confirmation of WV admission to the operation, pass or parking. The ability to monitor WV technical maintenance automatically in compliance with the manufacturer's instructions will serve as an instrument of the WV reliability. Key words: wheeled vehicle (WV), exploitation, Intelligent Transport System (ITS), data, recording, scanning, radio frequency identification, receive, transmit For citation: Ponomarev V.A., Moroz S.M. [Radio Frequency IDentification of wheeled vehicles in Intelligent Transport System]. Trudy NAMI, 2017, no. 1 (268), pp. 84–91. (In Russian)

References 1. Prikhod’ko V.M., Moroz S.M., Rementsov A.N. [Formation of functional possibility of intelligent transport sys- tems for automobile transport]. Zhurnal avtomobil’nykh inzhenerov, 2011, no. 4 (69), pp. 23–27. (In Russian) 2. [Technical Regulations of the Customs Union (CU TR 018/2011) On the safety of wheeled vehicles. Approved the decision of the Customs Union Commission on December 9, 2011]. (In Russian) 3. Maksimov V.A., Grebenyuk V.V., Ismailov R.I., Zimanov L.L., Roshchak S.V., Solntsev A.A. [To a question of creation of prospective onboard computer urban buses]. Gruzovik, 2014, no. 2, pp. 17–20. (In Russian) 4. Vlasov V.M., Zhankaziev S.V., Maktas B.Ya., Tur A.A. [DSRC-short-range radio communications in intelligent transport system]. Vestnik GLONASS, 2013, no. 4 (15). Available at: http://vestnik-glonass.ru/stati/dsrc_radiosvyaz_ blizhnego_deystviya_v_intellektualnoy_transportnoy_srede/ (accessed 25 January 2017). (In Russian) 5. [GOST R 51241-2008 Access control units and systems. Classification. General technical requirements. Test methods]. Moscow, Standartinform Publ., 2009. 31 p. (In Russian) 6. [GOST R 51980-2002 Vehicles. Marking. General technical requirements]. Moscow, IPK Izdatel’stvo standartov Publ., 2003. 9 p. (In Russian) 7. [The order of the Russian Ministry of Internal Affairs, the Ministry of Industry and Energy of and the Rus- sian Ministry of Economic Development on June 23, 2005 no. 496/192/134 “On approval of passports of vehicles and passports of chassis vehicles”]. (In Russian) 8. [Russian Interior Ministry Order dated 7.8.2013 number 605 “On approval of the Administrative Regulations of the Ministry of Internal Affairs of the Russian Federation for the provision of public services for the registration of mo- tor vehicles and their trailers” (Registered in the Ministry of Justice of Russia on September 27, 2013 no. 30048)]. (In Russian) Likhachev D.S. design engineer of “Gearboxes” of department “Systems, assemblies and aggregates” of Centre “Automobiles and tractors”, Federal State Unitary Enterprise “Central Scientific ResearchAutomobile and Automotive Engines Institute” (FSUE “NAMI”), Moscow 125438, Russian Federation E-mail: [email protected] Taratorkin I.A., D.Sc. (Eng), professor head of department, Institute of Engineering Science, RAS (Ural Branch), Ekaterinburg 620049, Russian Federation Kharitonov S.A., PhD (Eng), associate professor Bauman Moscow State Technical University, Moscow 105005, Russian Federation

Received 27 January 2017 Experimental study of dynamic loading of a vehicle transmission with a combined power unit

The automotive developments of today tend to increase productivity, speed and ecological performance of vehicles. All changes which relate to the increase of cardinality parameters of the internal combustion engine (ICE) together with the use of hybrid drives and powertrain design improvement inevitably lead to the increase of intensity and vibration in wheeled vehicles. Analytical calculations show and experimental studies confirm the presence of alternating loads in the elements of wheeled machines. The number of failures caused by vibration is high in automotive machine building. The elimination of fluctuations in vehicles transmission is an important and urgent problem of modern engineering for the reduction of the cost of machines and additional expenditure on their recovery in the course of operating life. Vibration loading reduction problems of transport vehicles transmission are solved by many domestic and foreign firms. In each case the choice of the means reducing torsional vibrations in the transmission is determined by the specific characteristics of the system and its operating conditions. Experimental evaluation of dynamic loading of the vehicle transmission with a combined power unit (CPU) is conducted as part of the research work. The aim of the study under consideration is the accumulation of experimental data on the vibrational processes in the nodes of a hybrid vehicle drive. The practical value of the work is to evaluate the effectiveness of the proposed torsional vibration damper (TVD). The experimental data can be used to adjust and validate calculation models to determine the dynamic load transmissions of vehicles with CPU. In addition, the article describes the complex of information-measuring apparatus, the succession of preparing and programing of laboratory and road tests for a researched vehicle with a hybrid propulsion system. Key words: vehicle, combined power unit, transmission, two-mass flywheel, experimental study For citation: Likhachev D.S., Taratorkin I.A., Kharitonov S.A. [Experimental study of dynamic loading of a vehicle transmission with a combined power unit]. Trudy NAMI, 2017, no. 1 (268), pp. 92–106. (In Russian) References

1. Nagaytsev M.V., Eydinov A.A. [Motor vehicles with combined power units (CPU)]. Moscow, Ekologiya mashi- nostroeniya Publ., 2014. 442 p. (In Russian) 2. Likhachev D.S. [Review of options for the location of the absorber torsional vibrations in the combined power units]. Trudy NAMI, 2015, no. 4 (263), pp. 159−169. (In Russian) 3. Likhachev D.S., Taratorkin I.A., Kharitonov S.A. [Analysis of disturbing torque by means of LMS Imagine.Lab AMESim software package]. Trudy NAMI, 2016, no. 3 (266), pp. 83–92. (In Russian) 4. [Skoda. Dual-mass flywheel. Device operating test, failure description, a technical description of the product. Service Information. Part 1]. Skoda Auto, 2009. 68 p. (In Russian) 5. [LuK. The dual-mass flywheel: technological solutions, diagnosis of faults]. LuK, 2007. 27 p. (In Russian) 6. Maslov G.S. [Calculations of shaft vibrations. Directory]. Moscow, Mashinostroenie Publ., 1980. 151 p. (In Rus- sian) 7. Shushkevich V.A. [Basics of electronic tensometry]. Minsk: Vysheysh. Shkola Publ., 1975. 352 p. (In Russian) 8. Izmaylov D.Yu. [Virtual Measurement Laboratory Measurement Power-Graph]. Radioezhegodnik, 2013, no. 22, pp. 274−313. (In Russian) Nagaytsev M.M. Chief Executive Officer LCC “КАТЕ”, Moscow 125438, Russian Federation Kharitonov S.A., PhD (Eng), associate professor1 E-mail: [email protected] Fedorenkov A.P., PhD (Eng), associate professor1 E-mail: [email protected] 1 Department “Tracked vehicles and mobile robots”, Bauman Moscow State Technical University, Moscow 105005, Russian Federation Received 06 February 2017 Experimental verification methods of the possibility to use unsynchronized gear clutches as controls in automatic planetary gearboxes

The analysis of the development of automatic transmissions (AT) shows the desire of developers to reduce by all possible means the loss of power during its transfer from the engine to the drive wheels. The number of controlled friction elements in the off position is one of the main factors affecting the magnitude of the power losses in the gearbox. The smaller the number of the control elements, the higher the efficiency of transmission. Therefore, the leading manufacturers of AT shifted to the kine- matic schemes possessing four degrees of freedom. One of the ways to reduce the power losses in the friction controls is a transition to a non-synchronized gear clutches in planetary transmissions. The gear couplings were first used by the German company ZF in the nine-speed gearbox ZF 9HP. It was found that for the synchronization of gear locking clutches and brakes at a lower gear it was necessary to in- crease the rotation frequency of the driving shaft of the gearbox by an amount equal to the progressive geometrical denominator between two adjacent gears, while the reduction of rotation frequency resulted in the increase of shifting gear by the same amount. The paper presents a methodology of experimental verification of the theoretical research results on Axiline Super Flow Technologies Group test stand. In the course of the experiment it is supposed to carry out the following research: to evaluate the gear cou- pling synchronization process during the down and up gear shifting in the ICE constant throttle position and during its opening. The presented technique allows to check study results and the possibility to use non-synchronized gear clutches in automatic planetary gearbox as controlling elements. Key words: automatic transmission (AT), a kinematic scheme, a planetary gearbox For citation: Nagaytsev M.M., Kharitonov S.A., Fedorenkov A.P. [Experimental verification methods of the possibility to use unsynchronized gear clutches as controls in automatic planetary gearboxes]. Trudy NAMI, 2017, no. 1 (268), pp. 107–111. (In Russian)

References

1. ZF. The new 8-speed-automatic transmission. Available at: http://www.zf.com/corporate/en/products/ innovations/8hp_automatic_transmissions/8hp_automatic_transmission.html (accessed 24 January 2014). 2. ZF. The World’s first 9-Speed Automatic. Passenger Car Transmission. Available at: http://www.zf.com/corporate/en/ products/innovations/9hp_automatic_transmission/9hp_automatic_transmission.html (accessed 24 January 2014). 3. Christoph Dörr. The new automatic transmission 9G-tronic from Mercedes-Benz. 12th International symposium automotive transmissions, HEV and EV drivers. Germany, 2013. 4. JATCO. 7-speed AT for medium and large RWD vehicles JR710E/JR711E. Available at: http://www.jatco.co.jp/ ENGLISH/products/stepat/jr710e.html (accessed: 24 January 2014). 5. Aisin AW CO. Major product information: Automatic Transmission. Available at: http://www.aisin-aw.co.jp/en/products/ drivetrain/at/index.html (accessed: 24 January 2014). 6. Harald Naunheimer, Bernd Bertsche, Joachim Ryborz, Wolfgang Novak. Automotive Transmissions. Fundamentals, Selection, Design and Application. Second Edition. Springer, Heidelberg, Dordrecht, London, New York, 2011. 715 р. 7. Nagaytsev M.M. [Analysis of the possibility of using not synchronized gear clutch in an automatic transmission]. Trudy NAMI, 2015, no. 4 (263), pp. 140–158. (In Russian)