How to calculate the effect of soil conditions on tractive performance

The paper presents an analysis and quantitative evaluation of the effect of soil conditions on tractive performance of off-road wheeled and tracked vehicles. The results of this study indicated that to accurately calculate the tractive performance of a vehicle in a given soil condition, soil properties and parameters and their changes as functions of soil moisture content and density should be taken into account. An effective Tractive Performance Analytical (TPA) model which takes into consideration the effect of soil conditions on tractive performance of the vehicles is developed. The TPA model uses invariant soil parameters that can be given or measured before the calculations by routine methods of classical soil mechanics. Soil parameters can also be obtained by recommended empirical equations using four physical soil parameters measured in the field with hand held instruments without time consuming and costly plate or vehicle tests. The model was validated in different soil conditions and compared with other models used in terramechanics for tractive performance predictions. The paper includes also an analysis of capabilities and limitations of the observed models.     

Analysis of soil flow and traction mechanics for lunar rovers over different types of soils using particle image velocimetry

Grouser wheels have been used in planetary rovers to improve mobility performance on sandy terrains. The biggest difference between a wheel with and without grousers is the soil behavior beneath the wheel as the grousers shovel the soil. By analyzing the soil flow, we gain insight into the mechanics dominating the interaction between the wheel and the soil, directly impacting performance. As the soil flow varies depending on the soil properties, the effects of soil type on soil behavior and wheel-traveling performance should be studied. This paper reveals the difference in soil flow and wheel performance on cohesive and non-cohesive soils. We conducted a series of single wheel tests over different types of soils under several wheel-traveling conditions. Soil flow was visualized by using particle image velocimetry (PIV). The experimental results indicate that soil flow characteristics highly depend on the shear strength of the soil. The cohesive soil exhibited lower fluidity due to its higher shear strength. At the same time, the wheel displayed a higher traveling performance over the cohesive soil, that is, a lower slip ratio.     

The development of a soil trafficability model for legged vehicles on granular soils

This paper extends previous research in planetary microrover locomotion system analysis at the University of Surrey through the development of a legged microrover mobility model. This model compares various two- and three-dimensional soil cutting models to determine the most applicable model to legged locomotion in deformable soils, and is flexible to use any of these models depending on the leg shape, sinkage and other conditions. This baseline draught force model is used for determining the soil forces available for legged vehicle locomotion, as well as the soil thrust available to the vehicle footprint. Empirical investigations were performed with a robotic arm in planetary soil simulants to validate a legged mobility model through determination of the draft force of a robotic leg pushing through soil at constant and varying sinkage levels. The resulting locomotion performance model will be used to predict the ability of the legged vehicle to traverse a specific soil. An introduction to the planetary soil simulants used in this study (SSC-1 quartz-based sand and SSC-2 garnet-based sand) and the process used to determine their mechanical properties is also briefly presented to provide a baseline for this research.     

Performance of coated floats in different soils

Experiments were conducted in a laboratory soil bin to evaluate the performance of coated floats in different soils. Two coating materials were studied, namely enamel and Teflon, and three soil types, namely clay, loam and sandy soil were used for testing. The forces required to overcome the drag of the floats and pull them over the soil surface were measured. The normal loads were varied to 25, 44 and 64 N. The effect of moisture content (db) was evaluated by varying the soil moisture from 21.2 to 62.4% for clay soil, 16.6 to 36.1% for loam soil and 0.7 to 13.8% for sandy soil. All tests were conducted at a constant speed of 0.20 m/s. The performance of the enamel coated float was superior to Teflon and uncoated floats in all soil conditions. In clay and loam soils, the drag force increased initially until the soil moisture content reached the plastic limit. The drag forces showed a decreasing trend once soil moisture exceeded the plastic limit. In sandy soil, the drag force increased with increase in moisture content. The overall reductions for the enamel coated float compared to uncoated float were from 4 to 64% in clay soil, 16 to 46% in loam soil and 26 to 45% in sandy soil. Besides this superior performance, the enamel coated float compared to the other floats showed excellent resistance to wear due to abrasion and superior scouring.     

Impact of M1A1 main battle tank disturbance on soil quality, invertebrates, and vegetation characteristics

Military training commonly results in land degradation, but protocols for assessing and predicting long-term environmental impact are lacking. An ability to assess the impact of repeated disturbance and subsequent recovery is needed to balance training requirements against environmental quality. To develop methodology for assessing soil quality, a study evaluating disturbance resulting from tank maneuvers was initiated on Fort Riley Military Installation, Kansas. The objectives were to identify and quantify soil-quality indicators on two soil types exposed to controlled tank traffic. We examined physical, chemical, and biotic indicators after treatments were applied during wet and dry soil conditions. A randomized complete-block design, with three blocks per soil type and three treatments per block, was used. Treatments consisted of disturbance created by a 63-ton M1A1 tank making five passes in a figure-8 pattern during either dry or wet soil conditions. The M1A1 was operated at a speed of approximately 8 km/h. Control plots received no tank traffic. Soil-quality indicators evaluated were soil compaction, soil penetration resistance, rut depth, soil bulk density, soil texture, soil chemical composition, plant biomass, soil microbial diversity, and nematode and earthworm taxa. Soil-quality indicators were sampled within one week after tank disturbance. Preliminary data indicate soil-texture-dependent treatment effects (p  0.05) for bulk density and porosity. Bulk density increased and porosity decreased on trafficked areas, in the silt loam soil, but showed no change in the silty clay loam soil. Disturbance during wet soil conditions raised penetrometer resistance and gravimetric water content more than disturbance during dry soil conditions (p  0.05). A significant difference in disturbance was measured between the outside and inside portion of the same track (p  0.01 and 0.001, respectively). The outside track caused the greatest amount of disturbance, as measured by the height of the disturbed soil ridge above the track bed. Tank disturbance significantly reduced total vegetative biomass (p  0.05) compared with that of un-trafficked areas. Disturbance under wet soil conditions significantly reduced grass biomass (p = 0.040), whereas disturbance under dry soil conditions significantly reduced forb biomass (p = 0.0247) compared to un-trafficked areas. Total earthworm abundance (p = 0.011) was reduced by 82% when disturbance occurred during wet soil conditions regardless of soil type.     

Performance evaluation of an animal drawn puddling implements under controlled soil-bin conditions

Trials were conducted to evaluate the performance of three commonly used puddling implements, i.e. animal drawn rotary puddler (I₁), 3-tine tiller (I₂) and local plough (I₃) under controlled soil bin conditions for different numbers of passes of each implement. The performance of the rotary puddler was found to be better when operated more than twice under the controlled conditions in terms of quality and quantity of puddling. It was found that the rotary puddler gave a higher puddling index and required less energy to puddle the soil. The rotary puddler provided good “puddle” with a puddling index of 50% after two passes whereas, the other two implements required more than five passes for the same quality of puddling or puddling index in sandy clay loam soil     

Technology showcase applications of enamel coating in agriculture

Recently various experiments were conducted at the Asian Institute of Technology, Bangkok, to study the effect of enamel coating on the performance of some agricultural equipment. In order to reduce soil adhesion on cage wheel lugs, nine different coating materials were tried and enamel coating was found to be the best among these materials. It reduced soil adhesion on cage wheel lugs considerably to avoid cage wheel blocking. To investigate effect of coating on lug forces detailed lab studies were undertaken to measure the lug forces. The effects of lug slip, soil moisture content and sinkage were investigated. It was observed that enamel coating did not affect the lug forces. The pull and lift forces generated by the enamel coated and uncoated lugs were almost the same. When enamel coated bolt-on plates were mounted on the power tiller cage wheel lugs and trials were conducted in actual field conditions, it was observed that in actual field conditions enamel coated bolt-on plates on cage wheel lugs improved the performance of a power tiller. Studies about coating effects on the drag force required to pull floats on soil surface were also conducted. It was observed that enamel coating on floats reduced the drag force significantly. It also greatly improved the scouring of a mouldboard plough used in a wet, sticky clay soil.     

Non-contact sensors for distance measurement from ground surface

Optical and ultrasonic sensors were designed and fabricated for non-contact detection of ground height. Indoor and outdoor experiments were conducted to evaluate the detection performance of both sensors under the following test conditions: moisture content and type of soil; ambient temperature and sunlight intensity; configuration of the ground surface; distance of the sensor from the ground surface; and moving speed of the sensor. The type of soil, the sunlight intensity and the moving speed had little effect on the detection performance of both sensors. The optical sensor could detect the distance from the ground surface accurately in spite of irregularity of the ground surface configuration. High moisture content (40% D.B.) of the soil greatly affected the detection performance of the optical sensor due to the refraction of the light at the water film on the soil surface. On the other hand, the detection performance of the ultrasonic sensor was not affected by moisture content, but was largely influenced by temperature. The detection accuracy of the ultrasonic sensor on an irregular ground surface was greatly affected by the measuring distance due to its wide beam width.     

Tractive performance of a tread design for improved flexibility

The tractive performance of an 18.4R38 radial-ply tractor tire with increased flexibility in the tread area was compared to that of a standard tread design. Normal soil-tire interface stresses were measured at four locations on the lug surfaces of both tires operating on Decatur clay loam and Norfolk sandy loam soils. There was a tendency for the increased flexibility in the tread area to provide a higher net traction ratio at the same tractive efficiency as the standard tread design, especially on Decatur clay loam soil. The more flexible tread design reduced the magnitude of peak normal contact stresses across the tire width, which may have implications for reducing soil compaction without compromising tractive performance. The more flexible tire reduced the average normal contact stress by approximately 15% in the sandy loam soil and 23% in the clay loam soil for the range of operating conditions investigated.     

A review on traction prediction equations

A variety of methods, ranging from theoretical to empirical, which have been proposed for predicting and measuring soil-vehicle interaction performance are reviewed. A single wheel tyre testing facility at Indian Institute of Technology, Kharagpur, India, was used to check the applicability of the most widely used traction models, for tyres used in Indian soil conditions. Finally, the coefficients of traction prediction equations developed by Brixius [16] were modified to fit traction data obtained from the testing of the tyres in the Indian soil conditions.     

Multi-pass effect on off-road vehicle tractive performance

The paper presents an analysis and qualitative and quantitative evaluation of the multi-pass effect on off-road vehicle tractive performance in different soils. A literature review and the results of this study indicated that to accurately predict a vehicle’s tractive performance, the multi-pass effect should be taken into account. A new method has been developed on how to calculate the effect in given soil and operating conditions. The method includes consecutive calculation of the tractive performance: (a) for the first vehicle pass using an analytical model with soil input including an initial soil parameters set, (b) for the following vehicle passes using the same analytical model with corresponding soil input for each pass which can be obtained using the new procedure.     

Slip sinkage effect in soil-vehicle mechanics

The paper presents an analysis and quantitative evaluation of the slip sinkage and its effect on the tractive performance of wheeled and tracked vehicles in different soils. The results of this study indicated that to accurately predict the sinkage and motion resistance of a vehicle in a given soil and operating conditions, the slip sinkage effect should be taken into account. An effective analytical formula that takes into consideration the slip sinkage effect on sinkage of plates and vehicles is developed. The formula was validated in different soil conditions and compared with other formulae used in terramechanics for slip sinkage effect predictions.     

Measurement of soil parameters useful in predicting tractive ability of off-road vehicles using an instrumented portable device

An instrumented portable device that measures soil sinkage, shear, and frictional parameters in situ was developed to investigate the complexity of soil-traction device interaction process. The device was tested to determine its ability to measure soil frictional and shear characteristics. Extensive laboratory tests were conducted using dry and moist Capay clay and Yolo loam soils. In addition, field tests were also conducted in a Yolo loam field located at the UC Davis Agricultural Experiment Station. The Cohron sheargraph was also tested under the same laboratory experimental conditions to determine adhesion, soil-metal friction, cohesion, and angle of internal friction of soil. The analysis of experimental data indicated that soil adhesion and soil-metal friction were found to be functions of the intercept and slope values of cone torque versus cone index plot (r² = 0.94 and 0.95, respectively). Moreover, soil cohesion was found to be related to adhesion by the constrained adhesion relationship, and soil angle of internal friction was proportional to soil-metal friction as reported by Hettiaratchi [7] and [8]. These results imply that a simpler device consisting of a rotating cone can be developed to measure soil frictional and shear characteristics. Preliminary results showed that the soil parameters determined using this device predicted the maximum net traction developed by four different radial ply tires tested by Upadhyaya et al. [18] under similar soil conditions quite well. These results indicate that the parameters obtained from the device could be useful in obtaining traction related parameters of a soil-tractive device interaction process.     

Comparing the NRMM (VCI), MMP and VLCI traction models

A military vehicle’s ability to traverse soft soil is a significant aspect of its performance. It is therefore important to be able to accurately predict and compare the soft soil performance of wheeled and tracked vehicles. The paper compares the vehicle cone index (VCI) model used in the NATO Reference Mobility Model (NRMM) with the mean maximum pressure (MMP) and vehicle limiting cone index (VLCI) models. The wheeled vehicle models compare reasonably well but the VLCI model for tracked vehicles indicates markedly higher limiting go/no-go soil strengths compared to the VCI and MMP models. Some of the relationships used in the VCI model appear rather irrational and could be significantly simplified. There is a considerable lack of reliable experimental data for tracked vehicles especially in the low traction region.     

Evaluation of Model Concepts to Describe Water Transport in Shallow Subsurface Soil and Across the Soil–Air Interface

Soil water evaporation plays a critical role in mass and energy exchanges across the land–atmosphere interface. Although much is known about this process, there is no agreement on the best modeling approaches to determine soil water evaporation due to the complexity of the numerical modeling scenarios and lack of experimental data available to validate such models. Existing studies show numerical and experimental discrepancies in the evaporation behavior and soil water distribution in soils at various scales, driving us to revisit the key process representation in subsurface soil. Therefore, the goal of this work is to test different mathematical formulations used to estimate evaporation from bare soils to critically evaluate the model formulations, assumptions and surface boundary conditions. This comparison required the development of three numerical models at the REV scale that vary in their complexity in characterizing water flow and evaporation, using the same modeling platform. The performance of the models was evaluated by comparing with experimental data generated from a soil tank/boundary layer wind tunnel experimental apparatus equipped with a sensor network to continuously monitor water–temperature–humidity variables. A series of experiments were performed in which the soil tank was packed with different soil types. Results demonstrate that the approaches vary in their ability to capture different stages of evaporation and no one approach can be deemed most appropriate for every scenario. When a proper top boundary condition and space discretization are defined, the Richards equation-based models (Richards model and Richards vapor model) can generally capture the evaporation behaviors across the entire range of soil saturations, comparing well with the experimental data. The simulation results of the non-equilibrium two-component two-phase model which considers vapor transport as an independent process generally agree well with the observations in terms of evaporation behavior and soil water dynamics. Certain differences in simulation results can be observed between equilibrium and non-equilibrium approaches. Comparisons of the models and the boundary layer formulations highlight the need to revisit key assumptions that influence evaporation behavior, highlighting the need to further understand water and vapor transport processes in soil to improve model accuracy.

     

Soil deformation and slip relative to grouser shape and spacing

The development of soil deformation patterns and failure status behind grousers in the production of drawbar pull is examined in relation to grouser shape, size, and spacing (between grousers). The kinds of deformations, slip conditions, and patterns of soil displacement can be usefully examined to provide the input required for optimizing track performance.     

Evaluation of an empirical traction equation for forestry tires

Variable load test data were used to evaluate the applicability of an existing forestry tire traction model for a new forestry tire and a worn tire of the same size with and without tire chains in a range of soil conditions. The clay and sandy soils ranged in moisture content from 17 to 28%. Soil bulk density varied between 1.1 and 1.4g cm⁻³ with cone index values between 297 and 1418 kPa for a depth of 140 mm. Two of the clay soils had surface cover or vegetation, the other clay soil and the sandy soil had no surface cover. Tractive performance data were collected in soil bins using a single tire test vehicle with the tire running at 20% slip. A non-linear curve fitting technique was used to optimize the model by fitting it to collected input torque data by modifying the coefficients of the traction model equations. Generally, this procedure resulted in improved prediction of input torque, gross traction ratio and net traction ratio. The predicted tractive performance using the optimized coefficients showed that the model worked reasonably well on bare, uniform soils with the new tire. The model was flexible and could be modified to predict tractive performance of the worn tire with and without chains on the bare homogeneous soils. The model was not adequate for predicting tractive performance on less uniform soils with a surface cover for any of the tire treatments.     

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.     

Experimental evaluation of cutting dynamic models in soil bin facility

Computer Aided Engineering methods in earthmoving machines design and their automation require the development of soil-cutting models. These models both in two or three dimensions, static or dynamic, fitted for frictional or cohesive soils, must be mutually compatible and must function with soil transportation models and with machine locomotion characteristic models. In this work two different methods of soil cutting have been evaluated, both of them based on the classical wedge method, in order to verify their applicability to test conditions in the new soil bin facility of CEMOTER. From experimental results the possibility of using dynamic models of soil cutting in the frequency domain is discussed, to improve earthmoving machinery performance by automation and implementation of open and closed-loop control. After a preliminary analysis of a plane blade under different test conditions in sandy soil, soil cutting theoretical models of a simple implement are compared with respective scale models by tests performed in a soil bin facility at various operating speeds and depths, in order to investigate their applicability and the dynamic behaviour of the soil cutting force.     

Traction performance evaluation of a 78-kW-class agricultural tractor using cone index map in a Korean paddy field

The cone index (CI), as an indicator of the soil strength, is closely related to the traction performance of tractors. This study evaluates the traction performance of a tractor in terms of the CI during tillage. To analyze the traction performance, a field site was selected and divided into grids, and the CI values at each grid were measured. The CI maps of the field sites were created using the measured CI. The traction performance was analyzed using the measured traction load. The traction performance was grouped at CI intervals of 400 kPa to classify it in terms of the CI. When the CI decreased, the engine speed and tractive efficiency (TE) decreased, while the engine torque, slip ratio, axle torque, traction force, and dynamic traction ratio (DTR) increased. Moreover, the DTR increased up to approximately 13%, and the TE decreased up to 9%. The maximum TE in the DTR range of 0.45–0.55 was higher than approximately 80% for CI values above 1500 kPa. The DTR and TE results obtained in terms of the CI can help efficiently design tractors considering the soil environmental conditions.