COURSE ANGLE CALCULATION FOR A WHEELED VEHICLE ON A SLOPE BASED ON THE MATHEMATICAL MODEL
When moving in the transverse slope direction, along the contour lines, the wheeled vehicle deviates from a selected course due to the influence of operational and design factors that create a deviation moment, which violates its stability. To solve the problem of increasing the roadholding ability of wheeled vehicles on slopes, it is necessary to identify the dependence in the influence of factors that cause the object deviation from a selected course, and in some way affect them. Modeling of the wheeled vehicle moving on the slope is possible under spatial or planar design schemes. The wheeled machine is a mechanical system with a diverse nature of link between individual elements and complex laws of their individual moving. When solving various problems it is possible to neglect one or the other relative moving of the system elements. When defining the concepts of «controllability» and «stability» a wheeled vehicle cannot be considered as a system but a solid. The analysis shows that to study the rectilinear steady motion of the object it is advisable and enough to consider the planar design scheme. Based on the mathematical model obtained in this way, it is found that the course angle, or the angle between the actual and the selected moving direction on the slope, is directly dependent on the speed of moving, time, weight component, wheels rolling resistance, the height of the center of gravity of the object and in inverse dependence on the tyres stiffness and the square of its longitudinal base. The course angle in accordance with the mathematical model of the wheeled vehicle moving on the slope was calculated. It was confirmed that it allows to get the trajectory of the wheeled vehicle moving on the slopes of different steepness. The calculation allows to determine that 10 seconds after the moving start at a speed of V = 2 m/s, i.e. 20 meters of the path, the course angle is  = 0,037 rad. The other values are determined similarly.