Comparison of the traffic performance of a two-axle four wheel drive (4WD), rear wheel drive (RWD), and front wheel drive (FWD) vehicle on loose sandy sloped terrain

The traffic performances during driving and braking of a 5.88 kN weight wheeled vehicle with two-axle four wheel drive, rear wheel drive, and front wheel drive running up and down a loose sandy sloped terrain were compared by means of a simulation. For the given dimensions of the vehicle and the given terrain-wheel system constants, the relationship between the effective tractive and braking effort of the vehicle, the amount of sinkage of the front and rear wheels, the total amount of sinkage of the vehicle, and the slip ratio were calculated to estimate the optimum height of force of application and the optimum eccentricity of the center of gravity of the vehicle. It was observed that, during driving action, the maximum effective tractive effort of the four wheel drive vehicle (4WD) was larger than that of the rear wheel drive vehicle (RWD), which in turn was greater than that of the front wheel drive vehicle (FWD). During the braking action, the effective braking effort at skid -20% of the four wheel vehicle (4WB) was larger than that of the front wheel brake vehicle (FWB), in turn greater than that of the rear wheel brake vehicle (RWB), when the two-axle four wheel vehicle is moving up or down the loose sandy sloped terrain. The maximum terrain slope angle up which the two-axle wheeled vehicle is able to move during driving action was found to be about 0.067π rad for the 4WD vehicle, about 0.031π rad for the RWD vehicle, and about 0.017π rad for the FWD vehicle. The effective braking effort at skid-20% of 4WB, FWB and RWB was found to decrease with slope angle.     

Tractive and braking performance of a flexible tracked tractor moving up and down weak sloped terrain

The objective of this study is to analyse the tractive and braking performance of a tractor travelling up and down a weak silty loam sloped terrain. The effects of track belt size on terrain-track system parameters were investigated experimentally, and the force and energy balances were clarified for the actual flexible tracked vehicle. The flexibility of the track belt has been precisely analysed as a function of track tension, loading and reloading properties of terrain, and contact pressure distributions. The results show that the optimum effective driving (or braking) force decreases with the increase of slope angle due to the decreasing vehicle weight component, while the thrust (or drag) decreases and the compaction resistance increases. The contact pressure distribution under the flexible track belt shows a triangular wavy pattern having peak values under each track roller. The shear resistance distribution has positive and negative peak values for the driving and braking states, respectively.     

Automatic control system of a rear-wheel drive vehicle moving on a sloped weak sandy terrain

The general mechanism of tractive performance of a four-wheel vehicle with rear-wheel drive moving up and down a sloped sandy soil has been considered theoretically. For the given vehicle dimensions and terrain-wheel system constants, the relationships among the effective tractive or braking effort of the vehicle, the amount of sinkage of the front and rear wheels, and the slip ratio were analysed by simulation. The optimum eccentricity of the vehicle’s center of gravity and the optimum application height of the drawbar-pull for obtaining the largest value of maximum effective tractive or braking effort could be calculated by means of the analytical simulation program. For a 5.88 kN weight vehicle, it was found that the optimum eccentricity of the center of gravity e_opt was 1/6 for the range of slope angle—0βπ/24 rad during driving action of the rear wheel and e_opt was also 1/6 for the range of slope angle—π/24β0 rad during braking action of the rear wheel. The optimum application height H_opt was found to be 35 cm for the range of slope angle 0βπ/24 rad during driving action of the rear wheel and H_opt was 0 cm for the range of slope angle—π/24β0 rad during braking action of the rear wheel.     

The optimum height of application of force and eccentricity of a wheeled vehicle running on a loose sandy soil

In earthmoving sites, multi-wheeled vehicles are used to excavate a sandy soil or to pull other construction machinery. In this paper, the mechanism of a 5.88 kN weight, two-axle, four-wheel vehicle running on a loose sandy soil is theoretically analysed. For given terrain-wheel system constants, the combination of the effective braking force of the front wheel during pure rolling state and the effective driving force of the rear wheel during driving action will clarify the relation between effective effort of the vehicle and slip ratio and the relation between amounts of sinkage the front and rear wheels and slip ratio, etc. The maximum effective tractive effort of the vehicle varies with the height of application force and the position of the center of gravity of the vehicle. The optimum height of application of force and the eccentricity of the center of gravity to obtain the largest value of the maximum effective tractive effort can be explained with an analytical simulation program. Results of this study showed that the optimum height of application force should be 30 cm and the optimum eccentricity of the center of gravity is 0.05 for a vehicle considered for this study.     

An optimum design method for robotic tracked-vehicles operating over fresh concrete during straight-line motion

This paper addresses the general problem of the design of tracked base travel systems for special purpose vehicles and/or robotic machines that may be required to move over weak surfaces or over a lightly bonded terrain composed of fresh concrete. For the special case of a vehicle travelling on a very soft fresh concrete during construction, the paper presents detailed comparative studies of the tractive performance of several tracked vehicles with alternative slump values and mean contact pressure configurations. To complete these studies a detailed simulation-analytical method was used. From this, it was established that the simulation analysis method is useful for predicting land locomotion performance of specially designed small tracked vehicles running over fresh concrete of different consistencies during driving and braking action. This work was done for straight-line motion. Some possibilities for the real-time optimum control method of the tractive and braking performance of automated and robotic vehicles are also outlined.     

车辆制动作用下的车辆-路面-桥梁系统随机振动分析

视车辆、路面体系和桥梁为整个系统,将车辆模拟成弹簧和阻尼器连接的多刚体,沥青路面层模拟成Kelvin模型支承的无限长梁,混凝土路面和主梁一起模拟成Euler-Bernoulli梁。应用弹性系统动力学总势能不变值原理和形成矩阵的"对号入座"法则,建立了系统的竖向运动方程;并运用协方差等效方法模拟了车轮随机输入非平稳时域模型。研究了车辆制动作用下的车辆-路面-桥梁耦合系统的振动特性。计算表明:在其他条件相同时,刹车时,混凝土路面层对应的冲击系数为沥青路面层所对应系数的1.31倍;刹车时间为0.3 s时对应的冲击系数为刹车时间0.6 s所对应的1.29倍;路面的不平状况加剧了车辆制动作用时对桥梁冲击系数的影响。     

Tractive performance of a bulldozer running on weak ground

To determine the tractive performance of a bulldozer running on weak ground in the driven state, the relations between driving force, drawbar pull, sinkage, eccentricity and slip ratio have been analysed together with each energy balance; effective input energy, sinkage deformation energy, slippage energy and drawbar pull energy. It is considered that the thrust is developed not only on the main straight part of the bottom track belt but also on parts of the front idler and rear sprocket, and the compaction resistance is calculated from the amount of slip sinkage. For a given vehicle and soil properties, it is determined that the drawbar pull increases directly with the slip ratio and reaches about 70% of the maximum driving force. The compaction resistance reaches about 13% of the maximum driving force. The sinkage of the rear sprocket, the eccentricity, and the trim angle increase with the increment of slip ratio due to the slip sinkage. These analytical results have been verified experimentally. After determining the optimum slip ratio to obtain a maximum effective tractive power, it is found that a larger optimum drawbar pull at optimum contact pressure could be obtained for a smaller eccentricity of vehicle center of gravity and a larger track length-width ratio under the same contact area.     

Tractive performance and compaction effect of a road roller running on a weak sandy soil

This study aims to investigate the tractive performance of a two-axle, two-wheel vehicle with rear-wheel drive or brake and the compaction of a decomposed granite soil. The effects of traction or braking, the change of sinkage, the slip ratio of the front and rear roller, and the number of passes of the road roller were studied. A number of tests were conducted and the experimental data were compared with the theoretical analysis results. It was observed that the amount of sinkage on the front and rear roller took the minimum value when the front roller was in the unpowered rolling state and the slip ratio of the rear roller was almost zero. When the absolute value of the slip ratio of rear roller increased, the amount of sinkage on the front and rear rollers, the absolute value of the driven or braking force of the rear roller and the absolute value of effective tractive or braking effort of the road roller increased. When the front roller was in the unpowered rolling state and the rear roller was in the braking state at −5% skid, the compaction density of the soil was at a maximum.     

Traction performance of a pushed/pulled drive wheel

A comprehensive method for prediction of off-road driven wheel performance is presented, assuming a parabolic wheel–soil contact surface. The traction performance of a driven wheel is predicted for both driving and braking modes. Simulations show significant non-symmetry of the traction performance of the driving and braking wheels. The braking force is significantly greater than the traction force reached in the driving mode. In order to apply the suggested model for prediction of the traction performance of a 4WD vehicle, the load transfer effect was considered. Simulated traction performances of front and rear driven wheels differ significantly, due to the load transfer. In the driving mode, the rear driven wheel develops a net traction force greater than that of the front wheel. On the other hand, in the braking mode the front driven wheel develops a braking force significantly greater than that of the rear driven wheel due to a pushed/pulled force affected by the load transfer. The suggested model was successfully verified by the data reported in literature and by full-scale field experiments with a special wheel-testing device. The developed approach may improve the prediction of off-road multi-drive vehicle traction performance.     

考虑制动力影响的大型客车舒适性分析

利用有限元法和动力平衡原理,建立了具有层间接触的沥青路面和13个自由度的大型客车人体三维模型。以不平顺作为激励,随机模拟车流分布,在不同制动情况下,从时域和频域两方面分析人-车-路耦合振动下车辆和人体的动力响应。时域分析采用客观评价标准和主观烦恼率相结合的方法,频域分析考虑人体共振、人的心理和生理因素。结果表明:随着制动力增大,人体的竖向加速度幅值不变,俯仰、侧倾加速度幅值都增大,但是俯仰加速度增幅远大于侧倾加速度的情况,人的舒适性变差,烦恼率增高;在紧急制动时,主频段对人体共振、心理和生理产生的影响很小,但是次主频段与人体某些器官固有频段重合,对人体共振、心理和生理产生的影响是不容忽视的。     

Shape effects of wheel grousers on traction performance on sandy terrain

This paper presents the effects of different wheel grouser shapes on the traction performance of a grouser wheel traveling on sandy terrain. Grouser wheels are locomotion gears that allow small and lightweight exploration rovers to traverse on the loose sand on extraterrestrial surfaces. Although various grouser shapes have been analyzed by some research groups, a more synthetic and direct comparison of possible grousers is required for practical applications. In this study, we developed a single wheel testbed and experimentally investigated the effects of four grouser shapes (parallel, slanted, V-shaped, and offset V-shaped) on the traction performance of linear movement on flat sand. The wheel slip, sinkage, traction and side force acting on the wheel axle, the wheel driving torque, and the efficiency of each wheel were examined. Thereafter, the effects on the lateral slope traversability of a small and lightweight four-wheeled rover with different grouser shapes were also examined. The traversability experiment demonstrated the vehicle mobility performance in order to contribute to the design optimization of rover systems. These experimental results and their comparisons suggested that, of the shapes studies herein, the slanted shape was the optimal grouser design for use in wheeled rovers on lunar and planetary soil.     

层间接触对沥青路面粘弹性动力响应影响研究

为分析沥青面层材料粘弹特性及路面各层间接触条件对沥青路面动力响应的影响,基于解析的方法,开展了层间非完全连续沥青路面粘弹性动力响应的求解工作．采用修正的Burgers模型定义沥青面层材料的粘弹性本构关系,考虑沥青路面层间接触条件,在车辆荷载作用下,建立沥青路面的理论计算模型;通过Laplace-Hankel积分变换将偏微分方程组转化为常微分方程组并对问题进行求解;采用转换矩阵表征层间接触条件,求得层间非完全连续沥青路面粘弹性动力响应的解析表达式．从沥青路面实例计算结果发现：修正的Burgers模型中的瞬时弹性模量参数是对弯沉计算结果影响最大的因素之一,路表弯沉随的增大呈下降趋势,特别是当较小时,这种趋势尤为明显;沥青混合料本构模型中的粘弹性修正系数B和黏性参数是影响路面路表弯沉计算结果的另两个重要因素,并且B和对弯沉峰值出现时间的影响具有相反的趋势;层间的非完全连续条件对沥青路面动态弯沉计算结果影响较大,并以面层与基层间的非完全连续对弯沉计算结果影响最为显著．     

A new contact & slip model for tracked vehicle transient dynamics on hard ground

This study presents a new general transient contact and slip model for tracked vehicles on hard ground which is simple, accurate, and in agreement with the test results to a satisfactory level. Simulating zero track speed instances become possible with the new contact/shear model which is the major proposed improvement in addition to more accurate results for transient steering and tractive inputs. The model represents a general tracked vehicle having rear or front sprockets, with parameters for center of gravity, wheel positions, number of wheels, and track-pretention. To calculate longitudinal and lateral forces, a transient shear model is used. Shear stress under each track pad is assumed to be a function of shear displacement. The contact time formulation used in shear displacement calculation is improved to gain accuracy for transient and zero track speed conditions.The model is implemented on the Matlab/Simulink platform and verified with a comprehensive program of road tests composed of transient steering and tractive/braking scenarios. The results of the simulations and the road tests are satisfactorily similar for both constant and transient input maneuvers. Moreover, sensitivity simulations for vehicle parameters are conducted to show that the model responses are inline with the expected vehicle dynamics behaviours.     

Working processes of cyclic-action machinery for soil deformation—Part IV

The analysis deals with a system consisting of a main unit-moving with uniform velocity and generating the necessary tractive force- and a centrifugal vibrator, connected to the main unit by means of a spring and oscillating together with the tool as a single subsystem. The working process is described through piecewise-linear approximation of the frontal resistance force of the soil, as a function of the tool displacement. By this means interrelationship is established between the system parameters (with the possibility of their effective control) and the mechanical characteristics of the soil. It is shown that the process is feasible for a definitive set of the parameters, a change in one of them affecting the others.Special attention is devoted to the tractive force, whose role consists mainly in permitting uptake of the unloading energy and braking of the vibrator-tool subsystem during its backward motion. The latter is accompanied by compression of the spring, which, on being released, restores to the tool the energy expended during loading. The maximum tractive force in a cycle may be varied effectively over a fairly wide range through variation of the system parameters, each of which may be considered as definitive. A methodology for their determination is presented.Analytical relationships are derived for minimizing the energy requirement of the process, so as to optimize its parameters.     

现场实测结构温度对半刚性沥青路面性能的影响

针对中国特色的半刚性基层沥青路面,在广韶高速公路瓮城段进行为期一个月高温期的现场温度观测。运用三维有限元方法,结合现场实测温度,分析了半刚性沥青路面结构的最大拉应力、最大剪应力和最大路表弯沉在荷载和荷载耦合作用下的变化情况。结果表明,随着路面深度增加,温度波动的幅度逐渐减小;路面内的最高温度相对大气和路表温度滞后约1小时;沥青路面内部温度高于表面温度;大气、路表和路面内部温度变化基本同步,温度波峰与波谷的出现频率相同;在温度和荷载综合作用下,路表以下2cm深度范围内易出现因拉应力不足造成的开裂破坏;路表以下10cm深度范围内,较易出现剪切破坏;高温温度场的存在虽不会明显增大路面结构各层的拉应力与剪应力,但会明显增大路表弯沉,故易产生车辙破坏。     

2D FE–DEM analysis of contact stress and tractive performance of a tire driven on dry sand

Normal and tangential stresses acting over a contact interface of a tire driven on dry sand were investigated to expand the applicability of our model incorporating 2D FE–DEM with proportional–integral–derivative (PID) control. A simple averaging method for contact reaction was introduced: computational segments were defined over the lower half part of the tire circumference that translates without rotation with the tire; then the contact stresses were calculated segment by segment. For the analysis, it was assumed that the tire was in rigid contact mode and that it would travel on the model sand terrain in stationary condition. The integration of normal and tangential contact stresses with respect to the angle of rotation was then applied to calculate the vertical contact load, gross tractive effort, net traction, and running resistance of the tire by parametric (or semi-empirical) analysis. The result of tractive performance obtained through the parametric analysis was found to be similar to the result of tractive performance obtained directly using FE–DEM analysis. A forward shift of the consistent angle of rotation for maximum normal contact stress and that for maximum tangential contact stress with the increase of slip from 22% was also observed in the FE–DEM result.     

沥青路面弹塑性动力响应分析

采用弹塑性理论,建立了沥青路面弹塑性动力响应分析的三维有限元模型,利用有限元法分析了沥青路面的弹性和弹塑性动力响应、以及弹塑性状态下层间接触对沥青路面力学性能的影响．结果表明：在相同条件下,沥青路面为弹塑性状态时得到的弯沉和最大主应变均比弹性状态时大;卸载后,弹塑性状态时存在残余变形,说明沥青路面的弹塑性动力学响应分析得到的结果和路面实际情况较符合;沥青路面在弹塑性状态下,层间完全光滑时其弯沉是完全连续时的6 倍,上面层最大竖向应变是层间连续时的3.7 倍,下面层处最大竖向应变是层间连续时的2.3 倍;卸载后,层间完全光滑时,面层A 点与B 点均存在残余应变;随着层间摩擦系数的增大,路面弯沉值减少,说明在弹塑性状态下,层间接触状态对沥青路面的动力响应有较大影响．     

Study of the influence of vehicle parameters on tractive performance in deep snow

This paper describes an experimental study of tractive performance in deep snow, carried out with a new special skid steered tracked vehicle, developed by Bodin [1]. The vehicle design parameters studied include the influence of the ground clearance of the vehicle belly and the longitudinal location of the centre of gravity on tractive performance in deep snow, as well as the effect of initial track tension. The most important results from the test show that an increase in the ground clearance has a positive effect on the drawbar pull, originating from a greater increase in the thrust than in the track motion resistance and a slight decrease in the belly drag. Tests of the longitudinal location of the centre of gravity show that a location ahead of the midpoint of the track contact length is to be preferred. The drawbar pull increases with the centre of gravity moving forward. This is due to a reduced track motion resistance, a slight decrease in the belly drag and an almost constant vehicle thrust. The reason for the decreased track motion resistance and belly drag with the centre of gravity located ahead of the midpoint of the track contact length is a decreased vehicle trim angle.     

弹性地基双层梁理论下的混凝土路面力学分析

为建立混凝土路面结构受力分析计算模型,以Winkler弹性地基梁模型为基础,推导出了弹性地基双层梁理论的表达式;给定边界条件,利用MATLAB软件获得了无限长弹性地基梁在集中力作用下的挠度表达式。将混凝土路面结构简化为弹性地基上的双层梁,当车辆荷载作用于混凝土路面时,在集中载荷的作用下,建立了面层与基层的微分平衡方程。应用广义“初参数”法,得到了双层梁位移和应力的解析解。通过算例,对面层及基层的变形和应力进行了分析,结果表明:增大面层、基层的轴惯性矩和地基的弹性常数,可以有效地减少面层和基层的变形量,降低最大应力数值,但抗弯刚度对基层和面层的弯矩受力影响不大。最后将结果与ANSYS分析结果进行了比较,佐证了解的可靠性,研究结果可为混凝土路面结构设计提供依据。     

The effect of velocity on rigid wheel performance

A simulation model to predict the effect of velocity on rigid-wheel performance for off-road terrain was examined. The soil–wheel simulation model is based on determining the forces acting on a wheel in steady state conditions. The stress distribution at the interface was analyzed from the instantaneous equilibrium between wheel and soil elements. The soil was presented by its reaction to penetration and shear. The simulation model describes the effect of wheel velocity on the soil–wheel interaction performances such as: wheel sinkage, wheel slip, net tractive ratio, gross traction ratio, tractive efficiency and motion resistance ratio. Simulation results from several soil-wheel configurations corroborate that the effect of velocity should be considered. It was found that wheel performance such as net tractive ratio and tractive efficiency, increases with increasing velocity. Both, relative wheel sinkage and relative free rolling wheel force ratio, decrease as velocity increases. The suggested model improves the performance prediction of off-road operating vehicles and can be used for applications such as controlling and improving off-road vehicle performance.