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Justification of the soil dem-model parameters for predicting the plow body resistance forces during plowing 土壤dem模型参数预测犁体阻力的合理性
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.06.001
Salavat Mudarisov , Yakov Lobachevsky , Ildar Farkhutdinov , Eduard Khasanov , Ildar Rakhimov

The discrete element method has recently become a popular tool for developing soil models to be used for modelling the tillage process, which involves using working tools. The research aims to evaluate the parameters of the contact model particles when modelling tillage with large–sized working tools using the discrete element method. The paper presents the results of calibration of the physico-mechanical parameters of the particles of the soil environment model described using the discrete element method. The model is used for modelling the tillage process using moldboard plow. The parameters of the simulated particles to be studied are the Poisson's ratio, coefficients of static and dynamic friction of particles, Young's modulus, surface energy, particles' diameter, coefficients of static and dynamic metal friction of particles. Calibration was carried out according to the horizontal, vertical and transverse components of the traction resistance of the plow body. The obtained dependences of the components of the plow body traction resistance on soil moisture and surface energy help select parameters for the Hertz-Mindlin contact model while modelling the behavior of the soil environment when interacting with the working tools of tillage and sowing machines.

离散元法最近成为一种流行的工具,用于开发用于模拟耕作过程的土壤模型,这涉及到使用工作工具。研究目的是利用离散元法对大型工具耕作建模时接触模型颗粒的参数进行评估。本文介绍了用离散元法对土壤环境模型中粒子的物理力学参数进行标定的结果。该模型用于对犁式耕作过程进行建模。所要研究的模拟颗粒的参数为泊松比、颗粒的静摩擦和动摩擦系数、杨氏模量、表面能、颗粒直径、颗粒的静摩擦和动金属摩擦系数。根据犁体牵引阻力的水平、垂直和横向分量进行标定。所获得的犁体牵引阻力各组成部分对土壤水分和表面能的依赖关系有助于选择Hertz-Mindlin接触模型的参数,同时对土壤环境与耕作和播种机械工作工具相互作用时的行为进行建模。
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引用次数: 0
On the power characteristics of an unmanned tracked vehicle for autonomous transportation of agricultural payloads 用于农业有效载荷自动运输的无人履带车功率特性研究
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.05.006
S.M. Shafaei , H. Mousazadeh

Elucidation of power characteristics of an unmanned tracked vehicle for autonomous transportation of agricultural payloads in greenhouse constructions leads to appearance of an applied research in this study. This novel aim has been chosen based on operational requirement of the vehicle. Hence, it can be highlighted that this paper is initiative study described results of power efficiencies (motion, slip, and tractive power efficiencies) of the vehicle. To this aim, various payloads mounted on a trailer (1–5 kN) were towed by the vehicle through diverse drive speeds (0.17–0.5 m/s). Results illuminate that vehicle drive speed and payload weight had consequential contribution to vehicle motion and tractive power efficiencies. While, vehicle slip power efficiency mainly depended on payload weight. Linear regression approximations demonstrate that dual cumulative contributory effect of the drive speed and payload weight on the motion power efficiency (84.98–97.69 %) and tractive power efficiency (78.62–92.92 %) was antagonist and synergetic, respectively. Meanwhile, the slip power efficiency (81.71–98.36 %) linearly dropped with augmentation of payload weight. Resultant slip and motion power inefficiency were associate with vehicle motion power loss in amplitude of 0.39–67.98 and 2.65–14.03 W, respectively. Consequently, tractive power inefficiency was associate with vehicle motion power loss in amplitude of 3.15–82.01 W. This amplitude spotlights that 3.35–43.62 % of vehicle motion power inevitably wasted inside track-surface interface in agricultural towing tasks. Overall, numerical and analytical descriptions of the results as well as practical suggestions provide appropriate guidelines for vehicle supervisor in order to optimize power characteristics.

阐述了一种用于温室建筑中农业有效载荷自主运输的无人履带车辆的功率特性,导致了本研究的应用研究的出现。这种新颖的目标是根据飞行器的作战要求而选择的。因此,可以强调的是,本文是对车辆动力效率(运动、滑移和牵引动力效率)的初步研究。为此,车辆以不同的行驶速度(0.17-0.5米/秒)牵引安装在拖车上的各种有效载荷(1-5千牛)。结果表明,车辆行驶速度和有效载荷对车辆的运动和牵引功率效率有重要影响。而车辆滑移功率效率主要取决于载荷重量。线性回归近似表明,驱动速度和载重对运动功率效率(84.98 ~ 97.69%)和牵引功率效率(78.62 ~ 92.92%)的双重累积贡献作用分别为拮抗作用和协同作用。滑移功率效率(81.71 ~ 98.36%)随载荷重量的增大呈线性下降。由此产生的滑移和运动功率效率低下与车辆运动功率损失的幅度分别为0.39 ~ 67.98 W和2.65 ~ 14.03 W。因此,牵引功率低效率与车辆运动功率损失的幅度为3.15-82.01 W。这一幅度表明,在农业拖曳任务中,3.35 ~ 43.62%的车辆运动功率不可避免地浪费在履带界面内。总体而言,对结果的数值和分析描述以及实际建议为车辆主管优化动力特性提供了适当的指导。
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引用次数: 3
Machine learning-based draft prediction for mouldboard ploughing in sandy clay loam soil 基于机器学习的砂质粘土壤土板耕牵伸预测
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-09-20 DOI: 10.1016/j.jterra.2023.09.002
Vijay Mahore, Peeyush Soni, Arpita Paul, Prakhar Patidar, Rajendra Machavaram

Machine learning (ML) models are developed to predict draft for mouldboard ploughs operating in sandy-clay-loam soil. The draft of tillage tools is influenced by soil cone-index, tillage-depth, and operating-speed. We used a three-point hitch dynamometer to measure draft force, a cone penetrometer for soil cone-index, rotary potentiometers for tillage-depth, and proximity sensors for operating-speed. Draft requirements were experimentally measured for a two-bottom mouldboard plough at three different tillage-depths and various operating-speeds. We developed prediction models using recent ML algorithms, including Linear-Regression, Ridge-Regression, Support-Vector-Machines, Decision-Trees, k-Nearest-Neighbours, Random-Forests, Adaptive-Boosting, Gradient-Boosting-Regression, Light-Gradient-Boosting-Machine, and Categorical-Boosting. These models were trained and tested using a dataset of field measurements including soil cone-index, tillage-depth, operating-speed, and corresponding draft values. We compared the measured draft with the commonly used ASABE model, which resulted in an R2 of 0.62. Our ML models outperformed the ASABE model with significantly better performance. The test data set achieved R2 values ranging from 0.906 to 0.983. These results demonstrate that the developed ML models effectively capture the complex nonlinear relationship between input parameters and draft of mouldboard plough.

开发了机器学习(ML)模型来预测在沙质粘土壤土中操作的板犁的吃水。土壤锥指数、耕作深度和作业速度对耕具的吃水有影响。我们用一个三点悬挂式测力仪来测量牵引力,用一个圆锥贯入仪来测量土壤锥指数,用旋转电位器来测量耕作深度,用接近传感器来测量工作速度。在三种不同的耕作深度和不同的运行速度下,对两底板犁的吃水要求进行了实验测量。我们使用最新的机器学习算法开发了预测模型,包括线性回归、脊回归、支持向量机、决策树、k近邻、随机森林、自适应增强、梯度增强回归、轻梯度增强机和分类增强。这些模型使用现场测量数据集进行训练和测试,包括土壤锥指数、耕作深度、运行速度和相应的牵伸值。我们将测量的草稿与常用的ASABE模型进行比较,结果R2为0.62。我们的ML模型在性能上明显优于ASABE模型。测试数据集的R2值为0.906 ~ 0.983。结果表明,所建立的机器学习模型有效地捕捉了模板犁的输入参数与牵伸之间复杂的非线性关系。
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引用次数: 0
Analysis of soil compaction under different wheel applications using a dynamical cone penetrometer 用动力锥贯仪分析不同车轮作用下的土壤压实
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-09-15 DOI: 10.1016/j.jterra.2023.09.001
Rania MAJDOUBI , Lhoussaine MASMOUDI , Abderahmane ELHARIF

Soil compaction is one of the major problems in modern agriculture. Thus, the workability of a soil reflects to its ability to accept the traffic of agricultural machinery and implements. Water content and compaction are factors that influence the rheological behavior of the soil. the representation of soil shows limitations regarding the behavior of the tire-soil interface and its resistance to deformation is both influenced by the different forms of loading application along a tire path on a soil particle. This paper presents a study of the impact of multiple wheel passage, the wheel velocity, and the weight applied to the wheel on the agricultural soil represented by the cone index. To do this, we were inspired to launch an investigation for soil compaction determination at three levels of wheel load, three levels of velocity and at tillage, first, second and third passages of wheel with three replications on clayey sandy mixed grain soil. The results of this study shows that the greatest soil compaction occurred at the highest wheel load (1000 N), the lowest speed (0.1 m/s) and the highest number of passes (third pass), this leads to minimize multiple passes and or follow the same path, also, keeping the load on the ground as low as possible (weight of the machines), and working at high speed in agricultural fields.

土壤压实是现代农业的主要问题之一。因此,土壤的可工作性反映了其接受农业机械和农具运输的能力。含水量和压实度是影响土壤流变特性的因素。土的表示显示了轮胎-土界面行为的局限性,其抗变形能力受到沿轮胎路径施加在土壤颗粒上的不同形式的载荷的影响。本文研究了多轮通道、轮速和轮载重量对以圆锥指数表示的农业土壤的影响。为此,我们在粘砂混合颗粒土上开展了轮载、速度、耕作、轮一、轮二、轮三遍三次重复的土壤压实测定研究。本研究结果表明,最大的土壤压实发生在最高轮载(1000 N),最低速度(0.1 m/s)和最多的通过次数(第三次),这导致尽量减少多次通过或遵循相同的路径,同时,保持地面上的负荷尽可能低(机器的重量),并在农业领域高速工作。
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引用次数: 0
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
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Journal of Terramechanics
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