Substitute Model for Crawler Track Units

2017 ◽  
Author(s):  
Henry Graneß ◽  
Berthold Schlecht
Keyword(s):  
Vehicle Dynamics ◽  
Rough Terrain ◽  
Engineering Structures ◽  
Contact Patch ◽  
Gear Drive ◽  
Driving Speed ◽  
Wide Contact ◽  
D'alembert's Principle

Crawlers for mobilisation of working machines in rough terrain realize considerably high propel power. Furthermore, even heavy engineering structures cause only minor ground loading due to the wide contact patch of the crawler track plate. Typically, the driving speed of crawlers is low. Nevertheless, there is a significant speed droop during travel. The resulting vibrations and thus time variant loads eventuates in altered wear of the crawler’s components, as well as in damage of the travel gear drive and the superstructure of the vehicle. In this paper, a substitute model for crawler units is derived based on D’ALEMBERT’s principle. The model includes the most relevant phenomena of longitudinal crawler vehicle dynamics and hence permits to assess the time variant loads on the components thoroughly.

Online aircraft velocity and normal acceleration planning for rough terrain following

2017 ◽  
Vol 121 (1244) ◽  
pp. 1561-1577
Author(s):  
Omid Kazemifar ◽  
Ali-Reza Babaei ◽  
Mahdi Mortazavi
Keyword(s):  
Dynamic Model ◽  
Vehicle Dynamics ◽  
Online Algorithm ◽  
Flight Path ◽  
Rough Terrain ◽  
Mountainous Areas ◽  
Level Flight ◽  
Terrain Following ◽  
Workload Reduction ◽  
Normal Acceleration

ABSTRACTThis paper attempts to develop an efficient online algorithm for terrain following in completely unknown rough terrain environments while incorporating aircraft dynamics in the guidance strategy. Unlike most existing works, the proposed algorithm does not generate the flight path directly. The algorithm employs acquired information from the vehicle onboard sensors and rapidly issues appropriate Guidance Commands (GCs) at every point along the way. A suitable dynamic model is developed which takes the lags in the vehicle dynamics into account. The flight path forms gradually as a result of applying the GCs to the vehicle dynamics. Terrain-conforming capability afforded by this approach allows for autonomous and safe low-level flight in unknown mountainous areas. It considerably enhances the autonomy level of the vehicle and in the case of manned aircraft could significantly lead to pilot workload reduction. The proposed scheme is proven to be promising for online applications.

Modeling of Track-Wheel-Terrain Interaction for Dynamic Simulation of Tracked Vehicles: Numerical Implementation and Further Results

2001 ◽  
Author(s):  
Zheng-Dong Ma ◽  
N. C. Perkins
Keyword(s):  
Finite Element Method ◽  
Vehicle Dynamics ◽  
Solution Algorithm ◽  
Adaptive Finite Element Method ◽  
Rough Terrain ◽  
Adaptive Finite Element ◽  
Numerical Implementation ◽  
Vehicle Model ◽  
Tracked Vehicles ◽  
Full Vehicle

Abstract This paper extends the methods and results of a previous paper (Ma and Perkins, 1999) on simulating track-wheel-terrain interaction for tracked vehicle dynamics. A new solution algorithm is described that includes an adaptive finite element method for remeshing the track model during simulation. Doing so produces a track model that more accurately describes the mechanics of a track as the vehicle negotiates rough terrain. The model and solution algorithm are illustrated using a full vehicle model of an M1A1 tank.

Vehicle dynamics using a limit surface treatment of the tyre-road interface

1998 ◽  
Vol 212 (5) ◽  
pp. 347-356 ◽  
Author(s):  
S. J. DiMaggio ◽  
M. P. Bieniek
Keyword(s):  
Experimental Data ◽  
Surface Treatment ◽  
Satisfactory Agreement ◽  
Vehicle Dynamics ◽  
Present Model ◽  
New Method ◽  
Limit Surface ◽  
Tyre Model ◽  
Contact Patch ◽  
Interface Forces

A new method of dealing with the force-producing mechanism at the tyre—road interface is presented. The tyre model consists of a representation of the tyre elasticity and the relations between the interface forces and the contact patch displacement. These relations are described in terms of the ‘tyre limit surface’. The model appears to be capable of reproducing the tyre behaviour under both free-rolling and fully locked wheel conditions. A satisfactory agreement has been obtained between the available experimental data on the force versus slip parameters and the predictions of the present model. Applications to two problems of vehicle dynamics, oversteer versus understeer behaviour and motion with locked rear wheels, are presented.

scholarly journals A Strain-Based Method to Estimate Tire Parameters for Intelligent Tires under Complex Maneuvering Operations

Sensors ◽  
2019 ◽  
Vol 19 (13) ◽  
pp. 2973 ◽  
Author(s):  
Mª Fernanda Mendoza-Petit ◽  
Daniel Garcia-Pozuelo ◽  
Vicente Diaz ◽  
Oluremi Olatunbosun
Keyword(s):  
Vehicle Dynamics ◽  
Simulation Software ◽  
Strain Sensors ◽  
Huge Number ◽  
Active Sensors ◽  
Contact Patch ◽  
The Road ◽  
Strain Data ◽  
Tire Forces ◽  
Logic System

The possibility of using tires as active sensors opens the door to a huge number of different ways to accomplish this goal. In this case, based on a tire equipped with strain sensors, also known as an Intelligent Tire, relevant vehicle dynamics information can be provided. The purpose of this research is to improve the strain-based methodology for Intelligent Tires to estimate all tire forces, based only on deformations measured in the contact patch. Firstly, through an indoor test rig data, an algorithm has been developed to pick out the relevant features of strain data and correlate them with tire parameters. This information of the tire contact patch is then transmitted to a fuzzy logic system to estimate the tire parameters. To evaluate the reliability of the proposed estimator, the well-known simulation software CarSim has been used to back up the estimation results. The software CarSim has been used to provide the vehicle parameters in complex maneuvers. Finally, the estimations have been checked with the simulation results. This approach has enabled the behaviour of the intelligent tire to be tested for different maneuvers and velocities, providing key information about the tire parameters directly from the only contact that exists between the vehicle and the road.

Some examples of pilot/vehicle dynamics identified from flight test records

1970 ◽  
Author(s):  
Rodney C. Wingrove ◽  
Frederick G. Edwards ◽  
Armando E. Lopez
Keyword(s):  
Vehicle Dynamics ◽  
Flight Test

Lighting of Engineering Structures and Industrial Facilities New Aspects of the Topic

2018 ◽  
pp. 29-36
Author(s):  
Nikolai I. Shepetkov ◽  
George N. Cherkasov ◽  
Vladimir A. Novikov
Keyword(s):  
Fundamental Problem ◽  
Lighting Design ◽  
Aesthetic Value ◽  
Engineering Structures ◽  
Industrial Facilities ◽  
Artificial Lighting ◽  
Industrial Structures ◽  
Design Solutions ◽  
Architectural Lighting ◽  
The Aesthetic

This paper considers the fundamental problem of artificial lighting in various types and scales of industrial facilities, focusing on exterior lighting design solutions. There is a lack of interest from investors, customers and society in high­quality lighting design for industrial facilities in Russia, which in many cities are very imaginative structures, practically unused in the evening. Architectural lighting of various types of installations is illustrated with photographs. The purpose of the article is to draw attention to the aesthetic value of industrial structures, provided not only by the architectural, but also by a welldesigned lighting solution.

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization
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