Journal of Terramechanics最新文献_第6页

Effect of contact length of bias ply tractor tire on its tractive performance 斜交帘布拖拉机轮胎的接触长度对其牵引性能的影响

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-03-14 DOI: 10.1016/j.jterra.2024.100969

Harsha Chandrakar, Hifjur Raheman

{"title":"Effect of contact length of bias ply tractor tire on its tractive performance","authors":"Harsha Chandrakar, Hifjur Raheman","doi":"10.1016/j.jterra.2024.100969","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100969","url":null,"abstract":"<div><p>In order to study the effect of contact length of tire on tractive performance of tractor, experiments were conducted using a single wheel tester fitted with 13.6–28 bias ply tire in a soil bin in soft soil condition. Contact length and contact width were measured at different normal loads (9.8 kN and 13.72 kN) and inflation pressures (83, 103, 124 and 138 kPa). Results showed that the contact length had higher influence on tire pulling ability and tractive efficiency as compared to contact width of the tire. An equation for predicting contact length was developed using XLSTAT software, with normal load and inflation pressure as an independent variables and contact length as a dependent variable. The model demonstrated high efficiency with a coefficient of determination (R<sup>2</sup>) 0.96, a percentage of variation 0.76 %, a root mean square error 10.841, and an adjusted R<sup>2</sup> 0.95. Additionally, a second-order polynomial equation was developed using curve fitter app to estimate drawbar pull of a tractor by keeping wheel slip and contact length as independent parameters. Validation with another set of data obtained for 14.6–28 tire yielded R<sup>2</sup> 0.93 and less than 4 % variation, thus indicated the model’s accuracy in predicting drawbar pull.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"113 ","pages":"Article 100969"},"PeriodicalIF":2.4,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140134260","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Comparative study of terramechanics properties of spherical and cylindrical feet for planetary legged robots on deformable terrain 行星腿机器人球形脚和圆柱形脚在可变形地形上的地形力学特性比较研究

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-03-12 DOI: 10.1016/j.jterra.2024.100968

Huaiguang Yang , Chu Zhang , Liang Ding , Qingqing Wei , Haibo Gao , Guangjun Liu , Liyuan Ge , Zongquan Deng

{"title":"Comparative study of terramechanics properties of spherical and cylindrical feet for planetary legged robots on deformable terrain","authors":"Huaiguang Yang , Chu Zhang , Liang Ding , Qingqing Wei , Haibo Gao , Guangjun Liu , Liyuan Ge , Zongquan Deng","doi":"10.1016/j.jterra.2024.100968","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100968","url":null,"abstract":"<div><p>Legged robots exhibit superior adaptability to complex extraterrestrial environments compared to wheeled mobile robots. However, legged robots employed in planetary exploration face challenges in dealing with soft terrains. This paper focuses on investigating the issues of large foot sinkage and slip encountered by legged robots on soft terrain. Extensive experiments on quasi-static loading, loading with impact and tangential force have been carried out for both spherical and cylindrical feet. The variations in normal force, tangential force, and sinkage are meticulously recorded and analyzed. Foot-terrain interaction mechanics models are established to address scenarios involving substantial sinkage and sliding sinkage, leveraging the stress distribution characteristics of deformable soil. Accurate models are obtained through parameter identification utilizing experimental data, which can aid in the foot design of legged robots intended for planetary exploration. Based on the developed models and experimental data, a design optimization scheme for the coronal foot is proposed, leading to performance enhancements that are validated through experimental verification.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"113 ","pages":"Article 100968"},"PeriodicalIF":2.4,"publicationDate":"2024-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140112624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Tensor-train compression of discrete element method simulation data 离散元素法模拟数据的张量列车压缩

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-02-27 DOI: 10.1016/j.jterra.2024.100967

Saibal De , Eduardo Corona , Paramsothy Jayakumar , Shravan Veerapaneni

引用次数: 0

Modelling soil-rotor blade interaction of vertical axis rotary tiller using discrete element method (DEM) 利用离散元素法（DEM）模拟垂直轴旋耕机的土壤-旋耕刀相互作用

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-01-18 DOI: 10.1016/j.jterra.2024.01.001

Prakhar Patidar, Peeyush Soni, Achala Jain, Vijay Mahore

{"title":"Modelling soil-rotor blade interaction of vertical axis rotary tiller using discrete element method (DEM)","authors":"Prakhar Patidar, Peeyush Soni, Achala Jain, Vijay Mahore","doi":"10.1016/j.jterra.2024.01.001","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.01.001","url":null,"abstract":"<div><p><span>Vertical-axis rotary tillers are preferred over other soil-engaging tools for inter-culture operations due to their superiority in avoiding tillage pan formation, facilitating drainage, and operability at higher forward speeds. To optimize their design and operation, and to promote sustainable agricultural practices, a greater understanding of the kinematics, dynamics, and soil-structure interaction of vertical axis rotary tiller is required, along with the optimization of required energy. In this study, discrete element method (DEM) is used to analyse the interaction between soil and rotor blades, by incorporating the Hysteric Spring Contact Model along with linear cohesion model v2. Soil-rotor blade interaction DEM model is developed using Altair® EDEM® to analyse the effect of u/v ratio (2.13, 2.90, 3.70, and 4.44) and average operating depth (30 mm, 50 mm, and 70 mm) on draft and torque requirements for the rotor blade, as well as experimentally validating the simulation in a soil bin. In this study, lower u/v ratios in vertical axis rotary tillers demand higher torque for larger soil volumes. Additionally, torque rises with operating depth, owing to increased soil volume and strength. The simulated results closely followed the measured draft and torque for all combinations of u/v ratio and operating depth (R</span><sup>2</sup> 0.96 and 0.99). These findings indicate the DEM model as a dependable approach for modelling the performance of rotary tillers under different soil conditions.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"112 ","pages":"Pages 59-68"},"PeriodicalIF":2.4,"publicationDate":"2024-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139487661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Plowing drag-adaptive operation control method based on motor temperature compensation for electric tractor 基于电动拖拉机电机温度补偿的耕作阻力自适应运行控制方法

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-01-18 DOI: 10.1016/j.jterra.2024.01.002

Qi Wang , Xudong Wang , Wei Wang , Yongjie Cui , Yuling Song

{"title":"Plowing drag-adaptive operation control method based on motor temperature compensation for electric tractor","authors":"Qi Wang , Xudong Wang , Wei Wang , Yongjie Cui , Yuling Song","doi":"10.1016/j.jterra.2024.01.002","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.01.002","url":null,"abstract":"<div><p>Traditional plowing efficiency control methods are difficult to balance the tillage efficiency and uniform plowing depth, and the impact of the motor temperature rise on the control accuracy cannot be ignored during electric tractor operations. Therefore, a plowing drag-adaptive operation control method considering the motor temperature rise was proposed for an electric tractor equipped with a sliding battery pack. Firstly, a field-oriented control model with temperature compensation for the PMSM was developed based on the obtained winding resistances and flux links at different temperatures. Then, the driving torque and battery displacement were regulated to adapt the drag variation by the fuzzy neural network algorithm, allowing joint control of the speed and slip rate, and the simulation analysis was performed. Finally, a field plowing test was conducted. The results showed that the traction efficiency is increased by 23.33 % compared with those without control, and when the motor temperature rises, it can be compensated for temperature to output the required torque accurately, and the average relative errors in both speed and slip rate are reduced. The proposed method can improve the slip and greatly enhance the plowing operational stability, which provided technical support for the automatic precision operation of electric tractors.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"112 ","pages":"Pages 69-79"},"PeriodicalIF":2.4,"publicationDate":"2024-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139487662","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Co-simulation for optimal working parameter selection during soil vibratory compaction process 土壤振动压实过程中优化工作参数选择的协同模拟

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-01-12 DOI: 10.1016/j.jterra.2023.12.002

Jianjun Shen, Zheng Tang, Feng Jia, Zhen Liu, Jingru Hou

引用次数: 0

Study of passive steering mechanism for small Mars surface exploration rovers 小型火星表面探测车被动转向机制研究

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-12-19 DOI: 10.1016/j.jterra.2023.12.001

Asahi Oe, Shin-Ichiro Nishida, Shintaro Nakatani

引用次数: 0

Effects of vertical load and inflation pressure on tire-soil interaction on artificial soil 垂直荷载和充气压力对人工土壤上轮胎与土壤相互作用的影响

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-12-15 DOI: 10.1016/j.jterra.2023.11.002

Nisreen Alkhalifa , Mehari Z. Tekeste , Pius Jjagwe , Thomas R. Way

{"title":"Effects of vertical load and inflation pressure on tire-soil interaction on artificial soil","authors":"Nisreen Alkhalifa , Mehari Z. Tekeste , Pius Jjagwe , Thomas R. Way","doi":"10.1016/j.jterra.2023.11.002","DOIUrl":"10.1016/j.jterra.2023.11.002","url":null,"abstract":"<div><p><span>Instrumented single tire soil bin testing was conducted on a rigid surface and artificial soil by vertically loading a radial tire (LT235/75R15) to two tire vertical loads (6 kN and 8 kN) inflated to three levels of tire inflation pressure (179, 241, and 283 kPa). Lowering the tire inflation pressure by 37 % resulted in 26 % (6 kN vertical load) and 39 % (8 kN vertical load) greater contact lengths (P < 0.05). The 2-D contact area on artificial soil (initial bulk density of 1.51 Mg/m</span><sup>3</sup><span>) was significantly affected (P < 0.05) by tire inflation pressure for each load case. Increasing the load significantly affected the tire’s contact length on soil (P = 0.0010); however, tire inflation pressure did not significantly affect the contact length on soil (P = 0.0609). Soil rut depth and tire-soil deformed volume were not significantly affected by vertical load and tire inflation pressure. Measured tire contact area on soil surface was 3.3 times the contact area on the rigid surface, suggesting tire-soil interaction interface properties on deformable soil are better than using the gross flat plate for evaluating low ground pressure tire technology effects on traction and reducing soil compaction.</span></p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"112 ","pages":"Pages 19-34"},"PeriodicalIF":2.4,"publicationDate":"2023-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138688402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The running gear construction impact on overcoming obstacles by light high-mobility tracked UGV 行走装置结构对轻型高机动性履带式无人潜航器克服障碍的影响

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-12-11 DOI: 10.1016/j.jterra.2023.11.003

Daniela Szpaczyńska, Marian Łopatka, Piotr Krogul

{"title":"The running gear construction impact on overcoming obstacles by light high-mobility tracked UGV","authors":"Daniela Szpaczyńska, Marian Łopatka, Piotr Krogul","doi":"10.1016/j.jterra.2023.11.003","DOIUrl":"https://doi.org/10.1016/j.jterra.2023.11.003","url":null,"abstract":"<div><p>Rubber tracked running gears are widely used in high-mobility Unmanned Ground Vehicles (UGV) to increase obstacle negotiation possibility in urban and rural terrain. The paper proposes a method of assessing the mobility level of the light UGV‘s tracked running gears in terms of their ability to overcome terrain obstacles. A model of rubber track system was created in the MSC ADAMS environment. A track-ground contact was also modeled, defining the traction force based on the Wong equations. For four different chassis models (rigid construction, bogies solution – rigid and elastically mounted to the frame and rocker-bogie construction), with two track tension variants, the ability to overcome five terrain obstacles was checked, taking into account three different types of soil. The solutions were accessed on the basis of parameters of general efficiency of overcoming obstacles, driving force and slip values, as well as the distribution of track pressures on the ground. The best solutions for each criterion were indicated. The simulation results showed an improvement in the driving properties with the use of elastically suspended elements. The results also emphasized the negative impact of increased track tension on overcoming obstacles and the impact of ground characteristics on the slip values of the running gear.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"112 ","pages":"Pages 1-17"},"PeriodicalIF":2.4,"publicationDate":"2023-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138564319","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Machine learning approach for predicting soil penetration resistance under different moisture conditions 不同湿度条件下土壤渗透阻力预测的机器学习方法

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-12-01 DOI: 10.1016/j.jterra.2023.08.002

Anis Elaoud , Hanen Ben Hassen , Rim Jalel , Nahla Ben Salah , Afif Masmoudi , Atef Masmoudi

引用次数: 0