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A terramechanics model for high slip angle and skid with prediction of wheel-soil interaction geometry 基于轮-土相互作用几何预测的大滑移角和滑移的地球力学模型
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-09-13 DOI: 10.1016/j.jterra.2023.08.004
Catherine Pavlov, Aaron M. Johnson

Previously developed terramechanics models of wheel-soil interaction forces do not cover the full span of possible wheel states, including large slip angles and ratios. This paper synthesizes a model that covers the full range of slip and skid ratios and slip angles by building on classic terramechanics and soil failure models. The need for wheel and soil specific tuning is reduced through use of a closed-form model of soil flow around the wheel to determine the wheel-soil contact geometry. The terramechanics model is validated both with and without the soil flow model on two wheels in sand for slip ratios from −1 to 0.9 and slip angles from 0° to 60°, showing good prediction of tractive forces, sidewall forces, and sinkage over a wide variety of states. The data from these experiments is also presented, as the only open source data set to cover both a high range of slip angles and slip ratios.

以前开发的车轮-土壤相互作用力的地形力学模型不能涵盖车轮可能状态的全部跨度,包括大的滑移角和比率。本文在经典的地形力学和土体破坏模型的基础上,综合了一个涵盖滑移比和滑移角全范围的模型。通过使用封闭形式的车轮周围土壤流动模型来确定车轮-土壤接触几何形状,减少了车轮和土壤特定调谐的需要。地形力学模型在两个车轮上进行了验证,在滑移比为- 1至0.9,滑移角为0°至60°的情况下,在有土流模型的情况下和没有土流模型的情况下,都能很好地预测各种状态下的牵引力、侧壁力和下沉。这些实验的数据也作为唯一涵盖高范围滑移角和滑移比的开源数据集。
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引用次数: 0
An analytical model for stress estimation at the soil-tire interface using the dynamic contact length 用动态接触长度估算土-轮胎界面应力的解析模型
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-09-09 DOI: 10.1016/j.jterra.2023.08.006
Behzad Golanbari, Aref Mardani

The interaction between soil and tire is a complex phenomenon influenced by various factors, such as soil properties, vertical load on the wheel, and tire characteristics. However, estimating stress at the tire-soil interface is a challenging task due to the unpredictable nature of soil. Existing models for investigating the wheel-soil interaction are based on soil mechanical parameters, which are highly variable and require significant time and resources to measure accurately. In contrast, the amount of wheel sinkage into the soil can be measured in real-time and is derived from the mechanical properties of the soil. Therefore, there is a need to establish a relationship between stress and wheel characteristics such as dynamic contact length and tire sinkage in soil. To address this issue, this study introduces an analytical method to estimate the dynamic contact surface between the tire and soil. A mathematical model is then proposed to estimate stress, assuming the contact surface and variable pressure at the interface between the soil and tire. The stress model is validated through experimental tests conducted at three different vertical load levels and four different wheel traffic levels in the soil bin, repeated three times.

土与轮胎的相互作用是一种复杂的现象,受土壤性质、车轮上的垂直载荷和轮胎特性等多种因素的影响。然而,由于土壤的不可预测性,估计轮胎-土壤界面的应力是一项具有挑战性的任务。现有的轮-土相互作用模型是基于土壤力学参数的,这些参数变化很大,需要大量的时间和资源来精确测量。相比之下,车轮沉降到土壤中的量可以实时测量,并从土壤的力学特性中得出。因此,有必要建立应力与车轮特性之间的关系,如动态接触长度和轮胎在土壤中的下沉。为了解决这一问题,本研究引入了一种估算轮胎与土壤动态接触面的分析方法。然后提出了一个数学模型来估计应力,假设土和轮胎之间的接触面和变压力。通过在土仓内进行三种不同竖向荷载水平和四种不同车轮通行水平的试验,重复三次,对应力模型进行验证。
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引用次数: 0
Modelling and experimental identification of spring-damping properties of the off-road vehicle rubber tracks, rubber belts, and rubber-bushed tracks subjected to flexural vibrations 越野车橡胶履带、橡胶带和橡胶衬套履带在弯曲振动下弹簧阻尼特性的建模和实验鉴定
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-09-04 DOI: 10.1016/j.jterra.2023.08.007
Jakub Chołodowski

In the article, a model for predicting the energy losses caused by the flexural vibrations of rubber tracks, rubber belts, and rubber-bushed metal link-tracks for off-road vehicles is proposed, and a test stand and an experimental procedure are developed to identify the mechanical parameters of this model. The track or belt is represented by a chain of discrete rigid links connected by revolute joints, and a discrete spring-element is placed in parallel with multiple Maxwell-elements in each joint to capture the flexural rigidity and damping of the real track or belt. The mechanical parameters of the joint are found by testing real tracks or belts under cyclic bending. The models consisting of three, four, or five Maxwell-elements per joint are the most successful in predicting the response of a sample rubber track to cyclic bending. The spring-damping properties of tracks and belts identified with the method discussed herein can be applied in simulation studies on the interaction of tracked vehicles and soil. Furthermore, vehicle elements such as rubber bushings for suspension systems, rubber torsion springs, and oil-filled and rubber torsion dampers can be tested with this method to find their spring-damping properties required by vehicle dynamics simulations.

本文提出了一种预测越野车辆橡胶履带、橡胶带和橡胶套金属链履带弯曲振动所造成的能量损失的模型,并建立了一个试验台和试验程序来确定该模型的力学参数。轨道或皮带由由转动关节连接的离散刚性链接链表示,并且在每个关节中与多个麦克斯韦单元平行放置一个离散弹簧元件,以捕获真实轨道或皮带的弯曲刚度和阻尼。通过对实际轨道或皮带在循环弯曲作用下的试验,得到了接头的力学参数。每个节点由三个、四个或五个麦克斯韦单元组成的模型最成功地预测了样品橡胶轨道对循环弯曲的响应。该方法所识别的履带弹簧阻尼特性可用于履带车辆与土壤相互作用的仿真研究。此外,悬架系统的橡胶衬套、橡胶扭力弹簧、充油减震器和橡胶扭力减震器等车辆部件可以用该方法进行测试,以获得车辆动力学模拟所需的弹簧阻尼特性。
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引用次数: 0
Research on drag reduction performance of sliding plate of rice direct seeding machine based on non-smooth structure of loach surface 基于泥鳅表面非光滑结构的水稻直播机滑板减阻性能研究
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-09-02 DOI: 10.1016/j.jterra.2023.08.008
Hongchang Wang , Kaiquan Ding , Guozhong Zhang , Zhen Jiang , Abouelnadar El. Salem , Yuan Gao

Sliding plate has the problems of large sliding resistance and serious soil adhesion. Loach moves freely and flexibly in mud, has highly efficient lubrication and drag reduction effects. The sliding plate of rice direct seeding machine was selected as the research object and loach as the bionic prototype. The macroscopic and microscopic structure characteristics of loach were observed, the body surface of loach was covered by scales, which had a ridged non-smooth structure. The simulation analysis of the drag reduction performance of the non-smooth structure was carried out, the maximum drag reduction rate was 2.55% at the speed of 1 m/s. A bionic sliding plate of rice direct-seeding machine was constructed based on the non-smooth structure of loach body surface, and its working performance was simulated and analyzed. The results of orthogonal test show that the order of primary and secondary factors of bionic structure parameters affecting drag reduction rate was ribbed spacing > ribbed width > ribbed height. The optimal parameter combination was ribbing height 4 mm, ribbing width 4.5 mm, ribbing spacing, and the optimal drag reduction rate was 4.21%. The results of this study can provide theoretical support for bionic design of soil-engaging components in wet and soft paddy field.

滑板存在滑阻大、粘土严重的问题。泥鳅在泥中运动自如、灵活,具有高效的润滑和减阻效果。以水稻直播机滑板为研究对象,泥鳅为仿生原型。对泥鳅的宏观和微观结构特征进行了观察,泥鳅体表被鳞片覆盖,鳞片呈脊状非光滑结构。对非光滑结构的减阻性能进行了仿真分析,在1 m/s速度下,最大减阻率为2.55%。基于泥鳅体表的非光滑结构,构建了一种水稻直播机仿生滑板,并对其工作性能进行了仿真分析。正交试验结果表明,影响减阻率的仿生结构参数主次因素顺序为肋间距>肋宽>肋的高度。肋高4 mm、肋宽4.5 mm、肋间距为最佳参数组合,最佳减阻率为4.21%。研究结果可为湿软水田吸土部件的仿生设计提供理论支持。
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引用次数: 0
Push-pull locomotion: Increasing travel velocity in loose regolith via induced wheel slip 推拉运动:通过诱导车轮打滑增加松散风化层中的行驶速度
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-09-02 DOI: 10.1016/j.jterra.2023.08.005
Cyndia Cao , Deaho Moon , Colin Creager , Dennis K. Lieu , Hannah S. Stuart

Push–pull locomotion is an effective mobility mode for traversing loose lunar regolith and climbing sandy slopes. A rover with an active suspension can generate thrust from a set of anchored wheels by adjusting its wheelbase while driving the remaining wheels. This paper explores the relationship between the velocities of the rotational and translational suspension elements. Using a kinematic slip greater than 30%–40%, inchworming surpasses both the travel velocity and power efficiency of normal driving on slopes between 10°–20°. On a 20°slope, inchworming improves travel reduction from 98% to 85% and reduces normalized power consumption by a factor of eight. Experiments with NASA’s upcoming Volatiles Investigating Polar Exploration Rover show that increasing kinematic slip increases its travel velocity in a sink tank by 35%. Models using granular resistive force theory indicate that wheels driving at higher slip can generate greater tractive force and thus reduce the load on the anchored wheels. Otherwise, at lower driving slip, the load capacity of anchored wheels may be exceeded and result in oscillatory overall travel. These experiments suggest that there is further room to improve wheeled locomotion by intentionally inducing wheel slip, especially in articulated suspensions.

推挽运动是一种穿越松散月球风化层和攀登沙质斜坡的有效移动方式。具有主动悬架的探测车可以在驱动其余车轮的同时,通过调整其轴距,从一组锚定车轮中产生推力。本文探讨了旋转和平移悬架元件速度之间的关系。使用大于30%-40%的运动学滑移,在10°-20°的斜坡上,渐进式蚯蚓的行驶速度和动力效率都超过了正常行驶的速度和动力效率。在坡度为20°的情况下,渐进式钻进将行程减少率从98%提高到85%,并将标准化功耗降低了8倍。美国宇航局即将发射的挥发物极地探测漫游者的实验表明,增加运动学滑移可使其在水槽中的行进速度提高35%。采用颗粒阻力理论的模型表明,车轮在较大滑移下行驶可以产生较大的牵引力,从而减小锚定车轮的载荷。否则,在较低的驱动滑移下,锚定车轮可能会超过其承载能力,导致总行程振荡。这些实验表明,通过有意诱导车轮打滑,特别是在铰接悬架中,还有进一步改善车轮运动的空间。
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引用次数: 0
Literature review on Archimedean screw propulsion for off-road vehicles 非公路车辆阿基米德螺旋推进的文献综述
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-08-01 DOI: 10.1016/j.jterra.2023.05.001
Jorge Villacrés, Martin Barczyk, Michael Lipsett

This paper provides a comprehensive review of the published literature on screw propulsion for off-road vehicles and amphibious transportation, from its origins in the 18th century to the present day. Additionally, this work describes the basis and elements of an archimedean scroll propulsion mechanism and discusses the most developed dynamic models available in the literature and their limitations. The paper also examines the need for a tested terramechanics dynamic model and explores potential future applications of screw propulsion technology for uncrewed ground vehicles and robotic planetary exploration.

本文全面回顾了从18世纪起源到现在,用于越野车辆和两栖运输的螺旋推进系统的已发表文献。此外,本工作描述了阿基米德涡旋推进机制的基础和要素,并讨论了文献中最发达的动态模型及其局限性。本文还探讨了对经过测试的地球力学动态模型的需求,并探讨了螺旋推进技术在无人地面飞行器和机器人行星探测中的潜在未来应用。
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引用次数: 2
Terrain classification using mars raw images based on deep learning algorithms with application to wheeled planetary rovers 基于深度学习算法的火星原始图像地形分类及其在轮式行星探测器上的应用
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-08-01 DOI: 10.1016/j.jterra.2023.04.002
Junlong Guo, Xingyang Zhang, Yunpeng Dong, Zhao Xue, Bo Huang

Scene information plays a crucial role in motion control, attitude perception, and path planning for wheeled planetary rovers (WPRs). Terrain recognition is the fundamental component of scene recognition. Due to the rich information, visual sensors are usually used in terrain classification. However, teleoperation delay prevents WPRs from using visual information efficiently. End-to-end learning method of deep learning (DL) that does not need complex image preprocessing was proposed to deal with this issue. This paper first built a terrain dataset (consists of loose sand, bedrock, small rock, large rock, and outcrop) using real Mars images to directly support You Only Look Once (YOLOv5) to test its performance on terrain classification. Because the capability of end-to-end training scheme is positively correlated with dataset, the performance of YOLOv5 can be significantly improved by exploiting orders of magnitude more data. The best combination of hyperparameters and models was achieved by slightly tuning YOLOv5, and data augmentation was also applied to optimize its accuracy. Furthermore, its performance was compared with two other end-to-end network architectures. Deep learning algorithms can be used in the future planetary exploration missions, such as WPRs autonomy improvement, traversability analysis, and avoiding getting trapped.

场景信息在轮式行星漫游者的运动控制、姿态感知和路径规划中起着至关重要的作用。地形识别是场景识别的基本组成部分。由于视觉传感器具有丰富的信息,因此通常用于地形分类。然而,远程操作的延迟影响了WPRs对视觉信息的有效利用。针对这一问题,提出了不需要对复杂图像进行预处理的深度学习(DL)端到端学习方法。本文首先利用真实火星图像构建地形数据集(由松散的沙子、基岩、小岩石、大岩石和露头组成),直接支持You Only Look Once (YOLOv5),测试其地形分类性能。由于端到端训练方案的能力与数据集呈正相关,因此YOLOv5可以通过利用数量级的数据来显著提高性能。通过对YOLOv5进行微调,实现了超参数和模型的最佳组合,并采用数据增强方法优化其精度。此外,将其性能与另外两种端到端网络体系结构进行了比较。深度学习算法可用于未来的行星探测任务,如wpr自主性改进、可遍历性分析、避免被困等。
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引用次数: 0
Three-dimensional DEM tillage simulation: Validation of a suitable contact model for a sweep tool operating in cohesion and adhesion soil 三维DEM耕作模拟:在黏性和附着力土壤中操作的扫描工具的合适接触模型的验证
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-08-01 DOI: 10.1016/j.jterra.2023.05.003
Chunling Zhang , Jin Xu , Zihao Zheng , Weiwei Wang , Lichao Liu , Liqing Chen

Discrete element modelling (DEM) is widely used to estimate soil-tool interaction and tillage forces. To run an accurate simulation, it is essential to determine the appropriate DEM contact model and parameters. Although previous work has been introduced to determine the DEM contact model and parameters, the accuracy of numerical simulation is not high because of the soil differences when tillage tools operate in cohesion and adhesion soil in the middle and lower reaches of the Yangtze River in China. In this paper a Hertz-Mindlin with JKR Cohesion contact model and Linear Cohesion contact model were used to predict soil disturbance area and draft forces. The DEM parameters were determined using cone penetration, and uniaxial unconfined compression as an assisted test. The field experiment using sweep tool was used to validate the simulation results. A good agreement has been showed between simulation results and experiment results. Using verified model, the relative error for the predicted soil disturbance area at speeds of 0.50, 0.75 and 1.00 m/s were 5.3, 3.6 and 7.1 %, respectively. The maximum and average relative errors between simulated and measured draft forces were 6.98 and 3.91%, respectively. The effect of tillage depth and speed at soil disturbance area and draft forces were found which can provide some guidance for the selection of parameters during actual operation.

离散元模型(DEM)被广泛用于估算土壤-工具相互作用和耕作力。为了进行准确的模拟,必须确定合适的DEM接触模型和参数。虽然已有研究成果确定了DEM接触模型和参数,但由于耕作工具在中国长江中下游黏聚性和黏附性土壤中操作时土壤的差异,数值模拟的精度不高。本文采用Hertz-Mindlin结合JKR黏聚力接触模型和线性黏聚力接触模型对土壤扰动面积和牵引力进行了预测。DEM参数采用锥突法确定,单轴无侧限压缩辅助试验。利用扫描工具进行了现场试验,对模拟结果进行了验证。仿真结果与实验结果吻合较好。经验证的模型在0.50、0.75和1.00 m/s速度下预测土壤扰动面积的相对误差分别为5.3%、3.6%和7.1%。模拟与实测的最大相对误差为6.98,平均相对误差为3.91%。研究了耕深、耕速对土壤扰动区和牵引力的影响,为实际操作中参数的选择提供了一定的指导。
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引用次数: 0
Correlations between moisture content and color spectrum of sandy soils 砂质土壤水分含量与光谱的相关性研究
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-08-01 DOI: 10.1016/j.jterra.2023.05.002
György Pillinger , Ahmed Elawad Eltayeb Ahmed , Kornél Bessenyei , Péter Kiss

It is a well-known phenomenon that the color of sand changes due to moisture. As the moisture content increases, the sand will typically become darker. In our research, we are looking for the answer to the exact function according to which this darkening process changes and what relationship there may be between the different, initial (dry) soil colors and how this relationship can influence the evolution of the darkening process. Using the suitably chosen range of the color spectrum, we created a color parameter to characterize the color of the measured sandy soil, and then, in addition to determining the moisture content, we also looked for other uses of the color spectrum for sandy soil. Thus, based on the color spectrum and other input parameters, not only the moisture content can be calculated, but in the case of two components, the grain composition can also be determined.

沙子因受潮而变色是一个众所周知的现象。随着水分含量的增加,沙子通常会变得更暗。在我们的研究中,我们正在寻找这个变暗过程变化的确切功能的答案,不同的初始(干)土壤颜色之间可能存在什么关系,以及这种关系如何影响变暗过程的演变。通过选择合适的光谱范围,我们创建了一个颜色参数来表征所测沙土的颜色,然后,除了确定含水量之外,我们还寻找了沙土光谱的其他用途。因此,根据色谱等输入参数,不仅可以计算出水分含量,而且在两组分的情况下,还可以确定颗粒组成。
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引用次数: 0
Load bearing capacity of finite half space agricultural homogeneous soil 有限半空间农业均匀土的承载能力
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-06-01 DOI: 10.1016/j.jterra.2023.03.001
Nihal D. Salman , György Pillinger , György Sitkei , Péter Kiss

A comprehensive plate-sinkage equation is necessary for the description of the load bearing capacity of soils. In the last century, several improvements to the existing equations were attempted but with limited success. The main aim of this paper is to verify, evaluate and develop a load bearing capacity theory of finite half space soil. Agricultural soils may be regarded as a finite half space in which the tilled soil layer is comparable to the loading diameter. Harder soil is found below the tilled soil layer and this hard soil can be considered as a rigid layer. A new consideration is the compacted cone-shaped zone developing under a loading device and its possible interaction with the rigid bottom surface. Theoretical and experimental investigations reported in this paper have shown that these approaches have facilitated deriving new relationships valid for finite half space. These include two independent variables and developing a dimensionless load bearing number. This paper introduces a new dimensionless plate-sinkage equation describing soil deformation in a general form.

综合板沉方程是描述土体承载力的必要条件。在上个世纪,对现有方程进行了几次改进,但收效甚微。本文的主要目的是验证、评价和发展有限半空间土的承载力理论。农业土壤可以看作是一个有限的半空间,其中耕作的土层与荷载直径相当。较硬的土壤在耕作的土层下面,这种坚硬的土壤可以被认为是刚性层。一个新的考虑是在加载装置下形成的压实锥形区及其可能与刚性底表面的相互作用。本文的理论和实验研究表明,这些方法有助于推导有限半空间下有效的新关系。这包括两个自变量和发展无因次承载数。本文提出了一种新的无量纲板沉方程,以一般形式描述了土体的变形。
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引用次数: 0
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Journal of Terramechanics
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