The prediction of tractive performance on soil surfaces

A new approach to the traction prediction equation is described. The proposed equation uses the soil deformation modulus and physical properties of agricultural tyres as parameters. The novel features of this approach include the assumption of a non-linear shear stress distribution and change in the value of soil deformation modulus with the normal stress. A model which suggests a relationship between the contact patch area and the soil deformation modulus is also introduced. The prediction equation was compared with the widely used Wismer and Luth equation and measured data obtained by Wittig. The proposed approach results in an improvement over Wismer and Luth in the prediction of traction and it also involves minimal testing.     

Advantages of all-season versus snow tyres for off-road traction and soil stresses

Tractive performance, as well as soil stresses under a vehicle equipped with two types of tyres, was investigated in this study. All-season and snow tyres were installed in a 14 T 6 × 6 military truck and the vehicle was driven over sandy and loess soil for drawbar pull tests. Simultaneously, the stress state was determined in the ground surface under the driving wheels. Effects of tread pattern on both traction curves and soil stress were analyzed for three different levels of vehicle loading. All-season tyres provide slightly better traction for both terrain surfaces, at all three loading levels, or the differences between traction measures are not significant. Soil stress analysis showed that the difference between the two tread patterns is not significant. Generally, on soft surfaces all-season tyres performed no worse than snow tyres, while they are pronouncedly better for highway use.     

Evaluation of drawbar performance of winter tyres for special purpose vehicles

Driving on ice is still a risky activity. Research has investigated the factors contributing to the friction mechanism and has reported experimental studies of pneumatic tyres on ice in order to develop models that predict tractive and braking performance on ice/snow. Therefore, developing testing methods to obtain relevant experimental data for the validation of models is equally important.There are agricultural and industrial vehicles which are also designed for pulling but there are no specific studies reporting experimental tests on traction force of such machines in snowy conditions. However, this issue is very topical, as demonstrated by the appearance on the market of winter tyres for such vehicles.This study presents a method for testing winter tyres in outdoor test facilities with a focus on traction performance. The conclusions will serve in future investigations as a concise knowledge source to develop improved testing facilities and tyre–ice interaction models, aiding the development of better tyre designs and improved vehicle safety systems.The functional tests hereafter described have been carried out with the aim of evaluating the possibility of measuring the influences of different technique solutions on the performance of certain 17.5 R25 sized industrial tyres.     

Development of a tyre traction testing facility

An experimental setup comprising up of an indoor soil bin, a single wheel tester (SWT), a soil processing trolley, a drawbar pull loading device and an instrumentation unit was developed to perform traction tests in the soil bin to study the effect of soil, tyre and system parameters on the performance of tyres. The design of the single wheel tester was such that the dynamic weight reaction force is equal to that measured statically. It is a simple wheeled device, capable of testing tyres of up to 1.5 m in diameter, vertical force up to 19 kN, net pull up to 7.2 kN, torque up to 5.5 kN m, and speed up to 3.5 km/h.     

Tractive characteristics of radial ply and bias ply tyres in a California soil

Four tyres (18.4-38, 18.4R38, 14.9-28, 14.9R28) were tested using the UCD single wheel traction tester. Each tyre was tested at two different inflation pressures and three different vertical loads at each inflation pressure. All tests were conducted in a well tilled Yolo loam soil. A dimensional analysis procedure was used to design and analyse the experiment. Two models were considered: (A) using inflation pressure as a variable, and (B) using tyre deflection as a variable. The effect of tyre type, tyre size, tyre inflation pressure and dynamic load on (1) net traction ratio at 20% slip and (2) average tractive efficiency in the 0–30% slip range were investigated using an ANOVA technique. An estimate of the possible energy savings due to the use of radial ply tyres instead of bias ply tyres in California agriculture was made.     

Matching tyre size to weight, speed and power available for maximising pulling ability of agricultural tractors

The desirable weight-to-axle power ratio for agricultural tractors is determined by the necessity for the optimum utilisation of the available axle power to produce the required drawbar pull at a preselected slip. For a vehicle designed to operate in a given speed range, the weight-to-axle power ratio should be within a particular limit, so that a specific level of conversion efficiency can be maintained. In this paper attempts have been made to select suitable tyres for Indian two-wheel drive tractors operating in sandy clay loam soils on the basis of weight-to-power utiisation and maximum pull-to-optimum weight ratio at a preselected slip using the developed traction prediction equations. A comparison has also been made between the desired and actual weight on a single traction wheel and suitable tyre and tyre normally fitted in Indian two wheel drive tractors up to 35 kW.     

Modelling power requirement for traction tyres with zero sinkage

A model was developed by dimensional analysis to predict the gross traction at zero net traction for traction tyres (11.2–28, 12.4–28, 13.6–28) on a hard surface. Different parameters that affect the torque requirement, namely tyre size, tyre deflection, axle load, and rolling radius, were considered for the analysis. Experiments were conducted to study the effect of various wheel and system parameters on torque and energy consumed per unit distance travelled. The model developed predicts the torque requirement in an acceptable range and can be used as a reference for further traction studies of these tyres in various soils.     

A tyre option for sugarcane haulout trucks to minimise soil compaction

Change in soil cone resistance was used as an indicator of soil compaction after the passage of haulout trucks running dual tyres or super single tyres. Cone resistance was measured to a depth of 0.6 m in the inter-row and in transects from the middle of one crop row to the middle of the adjacent row. Treatments consisted of one, two, three and four passes by both dual tyres and super single tyres and one and two passes of reduced pressure and standard pressure super single tyres aligned down the inter-row. Soil cone resistance increased with an increasing number of passes under the dual tyres. There was less change in soil cone resistance after the passage of super single tyres. A small reduction in soil cone resistance resulted when low tyre pressure was used compared with the standard tyre pressure in the super single tyres. Soil cone resistance was greater in the row after passage of the dual tyres compared with low-pressure super single tyres. There is an advantage in using super single tyres on haulout trucks compared with conventional dual tyres to minimise soil compaction.     

Effects of reduced inflation pressure and vehicle loading on off-road traction and soil stress and deformation state

Field experiments on off-road vehicle traction and wheel–soil interactions were carried out on sandy and loess soil surfaces. A 14 T, 6 × 6 military truck was used as a test vehicle, equipped with 14.00-20 10 PR tyres, nominally inflated to 390 kPa. Tests were performed at nominal and reduced (down to 200 kPa) inflation pressures and at three vehicle loading levels: empty weight, loaded with 3.6 and 6.0 T mass (8000, 11,600 and 14,000 kg, respectively). Traction was measured with a load cell, attached to the rear of the test vehicle as well as to another, braking vehicle. Soil stress state was determined with the use of an SST (stress state transducer), which consists of six pressure sensors. Soil surface deformation was measured in vertical and horizontal directions, with a videogrammetric system. Effects of reduced inflation pressure as well as wheel loading on traction and wheel–soil interactions were analyzed. It was noticed that reduced inflation pressure had positive effects on traction and increased stress under wheels. Increasing wheel load resulted in increasing drawbar pull. These effects and trends are different for the two soil surfaces investigated. The soil surface deformed in two directions: vertical and longitudinal. Vertical deformations were affected by loading, while longitudinal were affected by inflation pressure.     

Traction data analysis in reference to a unique zero condition

The lack of a unique definition for the zero condition leads to innumerable zero conditions resulting in different amounts of net traction at the same value of slip. In this paper, an attempt has been made to discuss various aspects of different zero conditions and finally result in a unique definition of the zero condition. Based on this definition, a traction prediction model using mobility number approach has been developed to evaluate the performance of tractor tyres in sandy clay loam soils.     

UPM indoor tyre traction testing facility

Universiti Putra Malaysia (UPM) tyre traction testing facility was designed and developed to spearhead fundamental research on traction mechanics with high-lug agricultural tyres on tropical soils. This available facility consists of a moving carriage with a cantilever-mounted tyre that moves in either forward or reverse directions on rails well above a soil tank. The present facility set-up was able to operate in either: (a) towing test mode for tyre motion resistance studies, or (b) driving test mode for tyre net traction and tractive efficiency studies. The test tyre on the moving carriage under the towing test mode was made to rotate and engage onto the soil surface in the tank through a chain drive system. Under the driving test mode, the test tyre on the moving carriage was powered to rotate by a motor and a gearbox system with an additional pull provided by a cable-pulley mechanism connected to a tower with hanging dead weights. All controls on the moving carriage were activated from the main control console. Respective transducers were positioned at various localities within and interfaced to a data acquisition system to measure tyre horizontal and vertical forces, tyre sinkage, tyre speed and motion carriage speed. The data acquisition system was able to receive the measured signals in real time, display on the monitor screen and record into its CPU storage memory. Static calibration tests on various associated transducers showed excellent linearity with coefficients of determination (r²) of close to 1. The developed facility was successfully tested to determine motion resistance and net traction ratios for high-lug agricultural tyre at the recommended inflation pressure on sandy clay loam soil.     

Soil stress and compaction effects for four tractor tyres

Compaction effects and soil stresses were examined for four tractor tyres under three inflation pressures: 67, 100 and 150% of the recommended pressure. The four tyres were 18.4 R 38, 520/70 R 38, 600/65 R 38 and 650/60-38 and they carried a wheel load of 2590 kg. The 650/60-38 was a bias-ply tyre while the other three were radial tyres. Increased inflation pressure significantly increased all measured parameters: rut depth, penetration resistance and soil stress at 20 and 40 cm depth. The 18.4 R 38 caused a greater rut depth and penetration resistance than the other tyres, which did not differ significantly from each other. The soil stress was highest for the 18.4 R 38, followed by the 650/60-38. The low-profile tyres decreased compaction compared with the 18.4–38 tyre, mainly by allowing a lower inflation pressure. The use of low-profile tyres did not reduce compaction if not used at a lower inflation pressure. The bias-ply tyre caused a higher stress in the soil than the radial tyres when used with the same inflation pressure, but the compaction effects in terms of rut depth and penetration resistance were not greater for this tyre than for the radial low-profile tyres.     

The ability of agricultural tyres to distribute the wheel load at the soil-tyre interface

Bigger tyres with lower inflation pressure at equivalent wheel loads are expected to reduce the stresses transmitted to the soil. We measured the contact area and the vertical stress distribution near the soil-tyre interface for five agricultural implement tyres at 30 and 60 kN wheel load and rated inflation pressures. Seventeen stress transducers were installed at 0.1 m depth in a sandy soil at a water content slightly lower than field capacity and covered with loose soil. The recently developed model FRIDA was successfully fitted to the experimental stress data across the footprint. The contact area reflected the size of the tyres. The small tyres had identical contact area at the two loads, while it increased with load for the two biggest tyres. The small tyres presented uneven stress distributions with high peak stresses. Across the tests, the tyre inflation pressure described well the measured peak stress as well as the modelled maximum stress. The latter seems to be appropriate in evaluating vehicle trafficability. We found significant differences among tyres for the slope of a linear regression between the mean ground pressure and the inflation pressure, while the tyres displayed the same interception on the mean ground pressure axis. Our results therefore suggest that the slope of this relation is the most sensitive expression of tyres’ ability to deflect and transfer stresses to the soil. The two small tyres performed poorer in this respect than the larger tyres. Tests were limited to one soil strength, with future research directed toward a broader spectrum of soil strengths.     

Rolling resistance and rut formation by implement tyres on tilled clay soil

The rolling resistance and rutting incurred by towed flotation implement tyres were investigated on an arable clay soil in three different soil strength conditions. Three radial (600/55R26.5) and two bias ply (600/55–26.5) tyres were compared. Experimental wheel loads were in the 35.4–36.4 kN range. Tyre inflation pressures, representing typical field operation, and road transport applications were in 100–150 kPa and 150–200 kPa, respectively. Soil strength was determined from mean soil penetration resistance (CI_0–15, in the layer 0–15 cm) and mean cohesion (C_0–10, 0–10 cm). Wheel rolling resistance evaluated by the coefficient of rolling resistance (CRR), rut depth (RD), driving speed, and field gradient were measured with the tyres mounted on a test trailer hitched to a tractor. CI_0–15 and C_0–10 values predicted the sinkage and the resistance to travel motion on clay soil reasonably well. When the CI_0–15 was less than 1 MPa and C_0–10 was below 100 kPa, CRR and RD increased rapidly. On average, CRR was 20% lower for the radials than the bias plies. In soft conditions (CI_0–15 ? 0.48 MPa), the radials produced 15% shallower ruts than bias plies, and the CRR was lower and RD shallower with field inflation pressures than with road pressures used. According to our results, flotation tyres can be recommended to agricultural machines when the implement or trailer is used in soft soil conditions.     

A machine for measuring the suspension characteristics of agricultural tyres

A machine has been developed which is capable of measuring the suspension properties of agricultural tyres under a variety of conditions. The results produced are in agreement with those produced by other workers when these are available, showing clearly that the characteristics of rolling tyres are significantly different from those of stationary tyres. Tyre characteristics are found to have an almost linear relationship with tyre inflation pressure. Various methods of measuring tyre stiffness and tyre damping are used and the results compared.     

Laboratory experimental study of tire tractive performance on soft soil: Towing mode,traction mode,and multi-pass effect

Tire tractive performance, soil behavior under the traffic, and multi-pass effect are among the key topics in the research of vehicle off-road dynamics. As an extension of the study (He et al., 2019a), this paper documents the testing of a tire moving on soft soil in the traction mode or towing mode, with a single pass or multiple passes, and presents the testing results mainly from the aspects of tire tractive performance parameters, soil behavior parameters, and multi-pass effect on these parameters. The influence of tire inflation pressure, initial soil compaction, tire normal load, or the number of passes on the test data has been analyzed; for some of the tests, the analysis was completed statistically. A multi-pass effect phenomenon, different from any phenomenon recorded in the available existing literature, was discovered and related to the ripple formation and soil failure. The research results of this paper can be considered groundwork for tire off-road dynamics and the development of traction controllers for vehicles on soft soil.     

Net traction ratio prediction for high-lug agricultural tyre

A study was conducted to determine the accuracy of Wismer-Luth and Brixius equations in predicting net traction ratio of a high-lug agricultural tyre. The tyre was tested on a sandy clay loam soil in an indoor University Putra Malaysia (UPM) tyre traction testing facility. The experiment was conducted by running the tyre in driving mode. A total of 126 test runs were conducted in a combination consisting of three selected inflation pressures (i.e., 166, 193 and 221 kPa) and two wheel numerics (i.e., 19 and 29) representing two extreme types of soil strength under different levels of travel reduction ranging between 0% and 40%. Regression analysis was conducted to determine the prediction equation describing the tyre torque ratio. Marqurdt’s method used by Wismer-Luth for predicting non-linear equation was not found suitable in predicting the torque ratio of the test tyre awing its low coefficient of determination and inadequacy. The logarithmic model was found suitable in torque ration prediction. From analysis of covariance (ANCOVA) the mean effect of travel speed, tyre inflation pressure and wheel numeric on tyre net traction ratio were found to be highly significant, while the interaction of inflation pressure and wheel numeric was not significant. The 193 kPa inflation pressure was found the best, among the three inflation pressures used, in getting higher net traction ratio and higher maximum efficiency. Finally, two models were formulated for tyre net traction ratio; one in terms of wheel numeric and travel speed reduction and the other in terms of mobility number and travel reduction, to describe the tested tyre performance at different soil strengths.     

A proposed strength classification test for fine-grained soils

It is proposed that the linear semi-log relation of water content to soil strength be used as a means of identifying and classifying soils. The relation can be specified by two parameters proposed to be named trafficability limit and strength index. Together these two parameters will provide more useful information about a soil for the conduct and analysis of traction and mobility testing than any other classification system now in use. The parameters also have potential for additional correlations with measures of soil behavior in dynamic testing. Data are presented to demonstrate the feasibility of the proposal.     

Characteristic loading of light mouldboard ploughs at slow speeds

A study on four mouldboard ploughs, that are commonly used with animal traction in Kenya, was conducted. Draught, suction and torsion loads were measured and specific draught evaluated in field tests on four sites with typical agricultural soil conditions. Draught and suction are the horizontal and vertical components of the reaction to soil force, respectively, while torsion is the resisting moment about the plough shank. The objective was to quantify these parameters and to study their characteristics under variable conditions at operation, at speeds up to 1.12 m/s and tillage depths between 0 and 150 mm in an attempt to optimize the design, selection and utilization of mouldboard ploughs for animal traction in Kenya. It was found that depth of tillage is the most critical factor, and draught and suction increased significantly with depth while specific draught increased or decreased depending on the soil type. Draught and specific draught increased significantly with speed. The increase in suction with depth probably implies an increased stability in the ploughing operation, while its reduction with speed indicates a potential instability of plough control with varying speeds. Consequently, aiming for steady motion in the utilization of animal traction may aid in the optimization. It was also found that ploughs with a high specific draught (kN/m) are expected to experience higher torsional loads on the shanks. The characteristic draught, specific draught and suction loads of the ploughs were described by quadratic functions in speed and depth of tillage with coefficients of determination (R₂) ranging from 0.55 to 0.99. A significant difference in the coefficient of variation of draught loads in the three soil types probably implies that optimal duration for use of animal traction in tillage should be dependent on soil type.     

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.