Terrain classification using intelligent tire

A wheeled ground robot was designed and built for better understanding of the challenges involved in utilization of accelerometer-based intelligent tires for mobility improvements. Since robot traction forces depend on the surface type and the friction associated with the tire-road interaction, the measured acceleration signals were used for terrain classification and surface characterization. To accomplish this, the robot was instrumented with appropriate sensors (a tri-axial accelerometer attached to the tire innerliner, a single axis accelerometer attached to the robot chassis and wheel speed sensors) and a data acquisition system. Wheel slip was measured accurately using encoders attached to driven and non-driven wheels. A fuzzy logic algorithm was developed and used for terrain classification. This algorithm uses the power of the acceleration signal and wheel slip ratio as inputs and classifies all different surfaces into four main categories; asphalt, concrete, grass, and sand. The performance of the algorithm was evaluated using experimental data and good agreements were observed between the surface types and estimated ones.     

A computer algorithm for the identification of temperature fronts in a turbulent shear flow

A computer algorithm is developed for the detection of temperature fronts. VITA, or variable interval time averaging, first detects instants at which fronts occur at a reference location of a spanwise array of temperature sensors. The number of detections is subsequently reduced by examining correlations between the temperature signal at the reference location and signals at all other locations over short durations in the vicinity of the original instants. A further reduction in the number of detections is obtained using an iterative procedure in which ensemble averages of temperature are computed at the reference location and correlated with temperature signals at other locations. The performance of the algorithm is discussed in the context of ensemble averages obtained in the self-preserving region of a turbulent plane jet.     

Soil compaction and tires for harvesting and transporting sugarcane

Four tire types (A, block-shape tread; B, rib-shape tread; C, low-lug tread; D, high-lug tread) used to harvest and transport sugarcane were compared regarding the compaction induced to the soil. Tires were tested at three inflation pressures (207, 276, 345 kPa) and six loads ranging from 20 to 60 kN/tire. Track impressions were traced, and 576 areas were measured to find equations relating inflation pressure, load, contact surface and pressure. Contact surface increased with increasing load and decreasing inflation pressure; however, the contact pressure presented no defined pattern of variation, with tire types A and B generating lower contact pressure. The vertical stresses under the tires were measured and simulated with sensors and software developed at the Colombian Sugarcane Research Center (Cenicaña). Sensors were placed at 10, 30, 50 and 70 cm depth. Tire types A and B registered vertical stresses below 250 kPa at the surface. These two tires were better options to reduce soil compaction. The equations characterizing the tires were introduced into a program to simulate the vertical stress. Simulated and measured stresses were adjusted in an 87–92% range. Results indicate a good correlation between the tire equations, the vertical stress simulation and the vertical stress measurement.     

An investigation of intelligent tires using multiscale modeling of cord-rubber composites

A computational model based on the multiscale progressive failure analysis is employed to provide the theoretical predictions for damage development in the cord-rubber composites in tires. Vulcanized rubber, reinforcing belts, and carcass used in tire structures cause the anisotropic behavior under different loading conditions. Steel reinforcement layers made of steel wires combined with rubber complicate the macro-scale finite element modeling of tires. This paper presents a new three-dimensional model of the cord-rubber composite used in tires in order to predict the different types of damage including matrix cracking, delamination, and fiber failure based on the micro-scale analysis. Additionally, intelligent tires have the potential to be widely used to enhance the safety of road transportation systems, and this paper provides an estimation of the effects of void volume fraction, fiber volume fraction, and stacking sequence of the cord-rubber composites on the acceleration profile of the tire measured at the inner-liner.     

板裂纹位置的确定

本文研究了悬臂板的裂纹检测问题,提出了特征参数与加权特征参数法.所提利用故障结构的一阶特征对及无裂纹时的刚度阵与质量阵,确定结构裂纹位置的方法,既可用于简单的结构元件,也可用于复杂结构.算例与实验表明,所提方法可行.     

Test analysis of detection of damage to a complicated spatial model structure

A two-stage damage detection approach is proposed and experimentally demonstrated on a complicated spatial model structure with a limited number of measurements. In the experiment,five known damage patterns,including 3 brace damage cases and 2 joint damage cases,were simulated by removing braces and weakening beam-column connections in the structure. The limited acceleration response data generated by hammer impact were used for system identification,and modal parameters were extracted by using the eigensystem realization algorithm. In the first stage,the possible damaged locations are determined by using the damage index and the characteristics of the analytical model itself,and the extent of damage for those substructures identified at stage I is estimated in the second stage by using a second-order eigen-sensitivity approximation method. The main contribution of this paper is to test the two-stage method by using the real dynamic data of a complicated spatial model structure with limited sensors. The analysis results indicate that the two-stage approach is ableto detect the location of both damage cases,only the severity of brace damage cases can be assessed,and the reasonable analytical model is critical for successful damage detection.     

Damage detection based on the propagation of longitudinal guided wave in a bimetal composite pipe

This paper investigates the damage detection based on the propagation of guided wave in bimetal composite pipes, which can identify damage locations in both axial and circumferential directions. The feasibility of the method is showed by numerical simulations using FEM code ANSYS. Mode analysis is used to evaluate the guided wave mode and its structure, which can provide the basis of the mode selection in measurements scheme. The guided wave propagation in a damaged pipe is computed by transient analysis. 16 nodes around the pipe wall, as probes, are used to record the guided wave signal. When Pseudo Margenau—Hill distribution (PMHD) for each signal is carried out, three types of modes could be found, which are led mode, excited mode and lag mode in sequences. Based on the results, the arrival time of the excited mode could be used to locate damage in axial direction, and the energy distribution around the pipe of lag mode is consistent with the damage in circumferential direction. The simulation illustrated the possibility of detecting damage location in both axial and circumferential directions based on longitudinal ultrasonic guided waves only.     

ANALYSIS OF GROUNDING CHARACTERISTICS AND STRAIN ENERGY OF RADIAL TIRES WITH RADIAL STIFFNESS1)

利用轮胎综合试验机对径向刚度下子午线轮胎进行性能试验,采用正交试验法针对不同胎压、垂向载荷下轮胎的接地特性进行分析,结合仿真软件ABAQUS与试验进行对比。结果表明,橡胶材料Mooney-Rivli模型也具有一定的适用性,胎压增大时径向刚度发生线性变化,胎面印痕由椭圆形转变成近似矩形,印痕面积略微增大;随着胎压的不断增大,胎面印痕的面积显著减小,接触面的压力主要集中在胎肩,胎冠处也有所增加;胎压一定时,垂向载荷逐渐增大时,整个印痕面的应力呈对称分布,印痕面应力由内高外低逐渐向外高内低变化。建立数学模型与有限元软件同时对轮胎进行应变能分析,发现在低胎压150 kPa下受载荷时轮胎容易发生微小侧向位移同时发生变形,此时极易引起迟滞损失并造成应变能急剧增加。     

轮胎结构分析的一般壳体精化理论

基于一般壳体理论和Reddy型剪切精化理论，发展出适用于充气轮胎的结构非线性分析的一般壳体精化理论。为获得一个具有解析结构的近似解，将Bezier多项式用于分片描述轮胎几何形状和位移场，应用Rayleigh-Ritz法构造轮胎在充气内压作用下的内力，变形和层间应力的解，这一模型具有任意铺层性，复杂曲面逼近便捷和求解精度可控等优点。为比较起见，文中还对轮胎结构作了三维有限元数值分析。两种方法的综合比较表明，该文提出的轮胎模型不仅预测结果精确，而且大大节省计算量。     

Tractor tire aspect ratio effects on soil bulk density and cone index

A 580/70R38 tractor drive tire with an aspect ratio of 0.756 and a 650/75R32 tire with an aspect ratio of 0.804 were operated at two dynamic loads and two inflation pressures on a sandy loam and a clay loam with loose soil above a hardpan. Soil bulk density and cone index were measured just above the hardpan beneath the centerline and edge of the tires. The bulk densities were essentially equal for the two tires and cone indices were also essentially equal for the two tires. Soil bulk density and cone index increased with increasing dynamic load at constant inflation pressure, and with increasing inflation pressure at constant dynamic load. In comparisons of the centerline and edge locations, soil bulk density and cone index were significantly less beneath the edge than beneath the centerline of the tires. Soil compaction is not likely to be affected by the aspect ratio of radial-ply tractor drive tires when aspect ratios are between 0.75 and 0.80.     

Tire footprint characteristics as a function of soil properties and tire operations

The main objective of the following presentation is to examine the possibility of predicting agricultural tire footprint parameters under different operational conditions. The experimental part of the research involved the operation of two agricultural transport tires on two soils, under variations of tire load, inflation pressures and soil moisture contents. Results obtained show that tire footprint parameters, such as contact area, length, width and sinkage, can be reliably predicted using multifactorial linear and total regressions, within the range of recommended tire loads, inflation pressures and soil moisture contents around the plastic limit.     

Tire-ice model development for the simulation of rubber compounds effect on tire performance

The material properties of the rubber compounds, which are highly dependent on temperature, have a vital role in the tire behavior. A comprehensive study on the effect of the rubber properties on tire performance, for different temperatures, as well as different road conditions is required to adequately predict the performance of tires on ice.In this study, a theoretical model has been developed for the tire-ice interaction. The temperature changes obtained from the model are used to calculate the height of the water film created by the heat generated due to the friction force. Next, the viscous friction coefficient at the contact patch is obtained. By using the thermal balance equation at the contact patch, the dry friction is obtained. Knowing the friction coefficients for the dry and wet regions, the equivalent friction coefficient is calculated. The model has been validated using experimental results for three similar tires with different rubber compounds properties. The model developed can be used to predict the temperature changes at the contact patch, the tire friction force, the areas of wet and dry regions, the height of the water film for different ice temperatures, different normal load, etc.     

The determination of deflection and contact characteristics of a pneumatic tire on a rigid surface

The contact pressure, contact area, contact width, contact length and vertical deflection of a pneumatic tire on a rigid surface depend on tire size, load and inflation pressure and can be derived by means of mathematical expressions. These expressions have been widely utilized and checked in practice for different tires.     

Rolling deformation of truck tires: Measurement and analysis using a tire sensing approach

Measurements on rolling tire deformation provide deep insights into the mechanism of generating tire forces and moments. For free rolling tires, substantial attention has been given to the rolling resistance because of its significant impact on the fuel consumption and CO₂ emissions. This paper attempts to investigate the rolling resistance force through measurements of the rolling deformation of truck tires using a tire sensing approach. An optical tire sensor system is used to measure rolling tire deformation, which includes the deformed inner profile, sidewall deformation, and tread deformation. Measurements were conducted on a test truck for both new and used tires. In addition, the influences from operational factors such as wheel load and inflation pressure on tread deformation were examined and analyzed.     

Total axle load effects on soil compaction

Theoretical and applied research has shown that the pressure at a point in the subsurface soil is a function of both the surface unit pressure and the extent of the area over which it is applied (total load). Thirty years ago, most of the soil compaction from vehicle traffic was in the plow layer and was removed by normal cultural practices. As equipment has increased in size and mass, machine designers have increased tire sizes to keep the soil surface unit pressure relatively constant. However, the increase in total axle loads is believed to have caused an increase in compaction at any given depth in the soil profile, resulting in significant compaction in the subsoil.Two tires of different sizes, a standard agricultural tire and a flotation tire were used to support equal loads. Soil pressures were measured at three depths in the soil profile directly beneath each of the tires. Two soils were used and each was prepared first in a uniform density profile, and then they were prepared with a simulated traffic pan (layer of higher density) at a depth of approximately 30 cm.Results showed that the presence of a traffic pan in the soil profile caused higher soil pressures above the pan and lower pressures below it than was the case for a uniform soil profile. The soil contact surface of the flotation tire was approximately 22% greater than the agricultural tire. The greater contact surface did reduce soil pressures at the soil surface, of course, but the total axle load was still the dominant factor in the 18–50 cm-depth range used in this study.     

轮胎滑水的CFD计算方法研究

针对轮胎滑水现象,采用VOF模型(Volume of Fluid Model)进行了CFD数值模拟计算。建立了分析对象的物理模型(轮胎模型、水模型和边界条件及初始条件)和RNGk-ε湍流模型;采用多块网格技术对计算域进行了离散,重点模拟分析三种不同入口速度下的动水压力变化和轮胎附近流场变化。最后和国外学者所做的试验和相关文献结果进行了对比,表明本文介绍的方法是可行的,该方法为轮胎产品开发提供了有效经济的技术支持。     

A new field single wheel tester

A new field single wheel testing device, as part of a field testing unit, was developed to perform traction tests on agricultural or cross country tires in the field. The tire testing device is mounted at the rear of a heavy wheeled tractor that also carries a unique soil property testing device at the front. The vertical, horizontal and side forces are measured inside a frame that holds the test wheel, while the torque is measured by a separate linkage system. The tire testing device is capable of testing tires up to 2 m in diameter; it can apply vertical force up to 50 kN, and torque up to 31 kNm.     

冰面上轮胎摩擦牵引力的实验研究

研制开发了测试冰雪面轮胎力学特性的试验装置,该装置具有可作往复运动的平台冰槽。在不同冰基体温度下,分析了轮胎摩擦引力受侧偏角,载荷和轮胎充气压力的影响,从试验角度论证了轮胎中央充放气系统对改善冬季轮胎牵引性能的作用,该装置的建立将有利于轮胎新结构和新材料的开发,并起到完善现有轮胎力学模型的作用。     

Comparison of different zero-slip definitions and a proposal to standardize tire traction performance

The traction properties of agricultural tires are of special importance because the tractive efficiency varies in a wide range to a maximum in the order of 75%. Different single wheel testing equipment is used to investigate tire performance and different mathematical methods are used to process the measured data. The different zero-slip definitions complicate a comparison between the measured data. In the paper the consequences of these differences are shown. For traction prediction it is necessary to make different measured and calculated data comparable so that all these data can be used for modelling tire behaviour. Therefore in this paper an effort to standardize tire traction performance is made.     

Tire tread pattern design trigger on the stress distribution over rigid surfaces and soil compaction

Studies comparing the structural differences of tires have not qualitatively or quantitatively considered the effects of tread geometry on tire behaviour or the interactions of the tire with the surface. Therefore, to determine the effects of different tire tread patterns on the stress distribution of the tire and soil compaction, we compared the structural behaviours of a high-flotation tractive-tread (TT) tire and a smooth-tread (ST) tire. The experiments were conducted over a rigid and over a deformable surface. The results from the rigid surface shows the influences of the tread pattern and sidewalls is dependent of the loads. Over the deformable surface, the contact area of the TT tire was larger than that of the ST tire. The inflation pressure (IP) was mainly responsible for the load support before the soil reached its maximum deformation. Next, the tread and sidewalls exhibited the same behaviour as observed on the rigid surface. In addition, we observed alterations in the balloon point with the tread geometry and the type of surface due to changes in the contact pressure. With carcass deformation, the volume of the tire was visibly reduced, which indicated that the IP could increase.