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Improvement of the design of the plow-subsoiler-fertilizer to increase soil fertility 改进犁-深-肥设计,提高土壤肥力
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-04-01 DOI: 10.1016/j.jterra.2023.01.001
Nikolay Romanyuk , Valery Ednach , Sayakhat Nukeshev , Irina Troyanovskaya , Sergey Voinash , Marat Kalimullin , Viktoriia Sokolova

The use of intensive technologies for the cultivation of agricultural crops provides for the application of fertilizers in the process of tillage. This reduces the compaction of the soil, increases its fertility and the quality of the crop. The purpose of these studies is to develop a universal working tool that allows you to combine several technological operations in one pass of the unit. The authors have developed an original design of a plow-subsoiler-fertilizer. This combined working body includes a reversible plow and a vibratory subsoiler with fertilizer ducts. This solution allows you to combine the application of fertilizers when plowing the field, loosening the subsoil layer and mixing the soil. As a result of the work, the dependences of the geometric dimensions of the structure on the traction resistance to movement in the soil were obtained. To implement the developed idea into a real design, the main parameters of the plow-subsoiler-fertilizer are determined. Particular attention is paid to the calculation of the spring mechanism that ensures the vibration of the subsoiler. The optimal number and location of belleville springs in the block and shock absorber were selected, at which the subsoiler will perform self-oscillations with a given amplitude.

农业作物种植的集约化技术为耕作过程中的肥料施用提供了条件。这减少了土壤的压实,提高了土壤的肥力和作物的质量。这些研究的目的是开发一种通用的工作工具,使您能够在单元的一次通过中结合几种技术操作。作者开发了一种犁-土-肥的原创设计。该组合工作体包括可逆犁和带肥料管道的振动深土机。这个解决方案可以让你在犁地时结合施肥,放松底土层和混合土壤。通过研究,得到了结构的几何尺寸与土中牵引阻力的关系。为了将开发的思想应用到实际设计中,确定了犁-土-肥的主要参数。特别注意了保证深埋机振动的弹簧机构的计算。选择了块体和减振器中最优的贝尔维尔弹簧的数量和位置,在此位置上,埋土器将以给定的幅度进行自振荡。
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引用次数: 2
A novel evaluation method for rolling energy losses of tacked vehicle road wheels using experimental modal analysis 基于试验模态分析的车辆道路车轮滚动能量损失评估方法
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-04-01 DOI: 10.1016/j.jterra.2022.12.003
Chengwei Zhu , Ye Zhuang , Weiguang Fan , Zhenxin Long , Shuyu Zhang

A novel evaluation method for rolling energy losses of road wheels of tracked vehicle is proposed, in which damping of road wheel surface is identified based on single vibration excitation and single point picking up frequency response function using a simplified modal experiment with an acceleration sensor. Three road wheels of tracked vehicle with different tread rubber are utilized as specimens during the modal experiments. The half power bandwidth method is employed to identify the viscous damping parameters. The damping parameters of road wheels are ranked by their values, and then these values of every road wheels are compared with their corresponding rolling energy losses to validate their correlative relationship. Moreover, the nonlinear deformation and stiffness of road wheels are investigated about their correlation with the rolling energy losses through model development and experimental validation. The results prove that the damping ratios of road wheels are correlated well with the rolling energy losses for all the three road wheels. The proposed evaluation method could effectively evaluate the rolling energy losses of road wheels, which suggests a simplified and economical alternative over the conventional rolling energy losses experimental method of road wheels.

提出了一种新的履带车辆车轮滚动能量损失评估方法,该方法利用加速度传感器的简化模态试验,基于单点振动激励和单点拾取频响函数识别车轮表面的阻尼。以不同胎面橡胶履带车辆的三个车轮为试样进行了模态试验。采用半功率带宽法辨识粘滞阻尼参数。通过对车轮阻尼参数的数值排序,将每个车轮的阻尼参数值与其对应的滚动能量损失进行比较,验证其相关关系。通过模型开发和试验验证,研究了道路车轮的非线性变形和刚度与滚动能量损失的关系。结果表明,三种车轮的阻尼比与滚动能量损失有较好的相关性。所提出的评价方法能够有效地评价道路车轮的滚动能量损失,为传统道路车轮滚动能量损失试验方法提供了一种简单、经济的替代方法。
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引用次数: 1
Vehicle design for terrain mobility: A modeling technique of powertrain power conversion and realization 地形机动车辆设计:一种动力总成功率转换建模技术及其实现
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-04-01 DOI: 10.1016/j.jterra.2023.01.003
Vladimir V. Vantsevich , David J. Gorsich , Dmytro O. Volontsevych , Ievhenii A. Veretennikov , Jesse R. Paldan , Lee Moradi

Vehicle terrain mobility characteristics, provided by the powertrain and running gear, are realized in dynamic interactions between the wheels and terrain. Approaches to modeling and simulation of vehicle-terrain interaction and mobility characteristics as well as engineering approaches to design powertrain sub-systems together pre-determine a vehicle’s technical success or failure before it touches the ground. This article develops a vehicle mobility design technique, applicable to both manned and unmanned platforms, concerned with powertrain power conversion and realization in tire-terrain interactions. The modeling component is based on multi-drive-wheel vehicle longitudinal dynamics combined with terramechanics and powertrain characteristics. The approach advances the conventional dynamic factor by introducing the conjoint effect of the engine, transmission, and driveline system on vehicle traction and acceleration performance in terrain conditions where circumferential wheel forces and tire slippages may differ from each other. The vehicle design component of the proposed technique introduces drivetrain, driveline, and powertrain design factors that assess the influence of the drivetrain and driveline systems on traction, acceleration performance, power conversion, and realization at the wheels. The vehicle-design-for-mobility technique is completed by examining indices of mobility margins and performance. An analysis of several 8x8 armored personal carriers and 4x4 off-road vehicles illustrates the proposed technique.

车辆的地形机动特性是在车轮与地形的动态相互作用中实现的,由动力总成和行走装置提供动力。车辆与地形相互作用和机动性特性的建模和仿真方法,以及设计动力总成子系统的工程方法,共同决定了车辆在接触地面之前的技术成功或失败。本文发展了一种适用于有人驾驶和无人驾驶平台的车辆机动设计技术,涉及轮胎-地形相互作用下动力系统功率的转换与实现。建模组件基于多驱动轮车辆纵向动力学,结合地形力学和动力系统特性。该方法通过引入发动机、变速器和传动系统对车辆在不同地形条件下的牵引和加速性能的共同影响,改进了传统的动力因素。该技术的车辆设计部分介绍了动力传动系统、传动系统和动力传动系统设计因素,这些因素评估了动力传动系统和传动系统对牵引力、加速性能、动力转换和车轮实现的影响。机动车辆设计技术是通过考察机动余量和性能指标来完成的。对几辆8 × 8装甲个人运输车和4 × 4越野车的分析说明了所提出的技术。
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引用次数: 0
Gradeability of ‘Zhu Rong’ Mars rover based on the simulated Martian terrain 基于模拟火星地形的“朱戎”号火星探测器的爬坡能力
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-04-01 DOI: 10.1016/j.jterra.2023.01.002
Yansong Liu , Yingchun Qi , Dong Pan , Zhen Chen , Baofeng Yuan , Meng Zou

Due to the long-term weathering and erosion climate, many craters terrains on the surface of Mars are covered with loose weathered sedimentary debris, and Mars rovers traversing these slope-like terrains with soft soils will easily slip or even sink, and may affect the survey missions. Therefore, it is important to study the climbing ability of Mars rovers for Mars exploration missions. This work testes the climbing capability of 'Zhurong' Mars rover based on active–passive suspensions under the simulated Martian terrain and soil parameters were adequately measured. The maximum climbing distance (MCD), slip rate, power, current, energy, and efficiency are analyzed to explore the climbing abilities under different climbing methods, soil states and dynamic parameters (speeds, angular velocity) settings. The test results show that the peristaltic mode is able to continue climbing after a direct climb failure, and the MCD per period is influenced by angular velocity. The power and current data can effectively reflect the difficulty of the rover climbing. Under the same dynamic parameters, the greater the slip rate of the rover, the larger the output power and current. In addition, the speed should be minimized to prolong the climbing distance, no matter it is direct or peristaltic climbing.

由于长期的风化侵蚀气候,火星表面的许多陨石坑地形覆盖着松散的风化沉积碎屑,火星探测车穿越这些带有软土的斜坡状地形时,很容易打滑甚至下沉,可能会影响勘测任务。因此,研究火星漫游者的爬升能力对火星探测任务具有重要意义。在模拟火星地形和土壤参数得到充分测量的情况下,验证了基于主-被动悬架的“朱荣”号火星探测器的爬坡能力。通过对最大爬坡距离(MCD)、滑移率、功率、电流、能量和效率的分析,探讨了不同爬坡方式、土壤状态和动态参数(速度、角速度)设置下的爬坡能力。试验结果表明,直接爬升失效后,蠕动模式仍能继续爬升,且周期MCD受角速度的影响。功率和电流数据可以有效反映月球车爬坡的难度。在相同的动态参数下,流动站的滑移率越大,输出功率和电流越大。此外,无论是直接攀爬还是蠕动攀爬,都应尽量降低速度以延长攀爬距离。
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引用次数: 0
Upper-bound solutions for the soil thrust of clay under a track system in 3D conditions 三维轨道系统下粘土土推力的上界解
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-02-01 DOI: 10.1016/j.jterra.2022.11.001
Sang Inn Woo , Sung-Ha Beak

This study proposes a quick and reliable method for estimating the soil thrust in clay ground for a tracked vehicle based on limit analysis in three-dimensional conditions. With respect to the shape and location of failure surfaces in clayey ground, block, triangular wedge, and trapezoidal wedge failure modes were considered. Between the upper-bound solutions from the different failure modes, the least upper-bound solution was proposed as the soil thrust. To verify the proposed solution, it was compared to the model test and numerical simulations for a track system over model clay ground. The proposed upper-bound solution is expected to produce a reliable soil thrust quickly in real time, especially for submerged heavy-weight remotely operated vehicles (ROVs).

本文提出了一种基于三维条件下极限分析的快速可靠的履带车辆粘土地基土推力估算方法。针对粘土地基破坏面形态和位置,分别考虑了块状、三角楔状和梯形楔状破坏模式。在不同破坏模式的上界解之间,提出了最小上界解作为土推力。为了验证所提出的解决方案,将其与模型粘土地面上轨道系统的模型试验和数值模拟进行了比较。提出的上限解决方案有望快速实时地产生可靠的土壤推力,特别是对于水下重型远程操作车辆(rov)。
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引用次数: 1
Water hazard detection: A 20-year review 水危害检测:20年回顾
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-02-01 DOI: 10.1016/j.jterra.2022.11.002
Xiaodong Guo , Jizhou Han , Jingyu Li , Zhoubo Wang , Zhenhai Zhang , Xiao Kang , Wei Zhu , Hongbin Deng

Obstacle detection is a complex task involving detection of obstacle features, identification of appropriate sensor and environmental conditions. The development of water hazard detection in the past two decades can be regarded as a microcosm of the history of typical obstacle detection. This review provides an extensive study of water hazard detection papers spanning a quarter-century (the 1990 s to 2021). The review mainly focuses on the width of water hazards, features of water hazards, sensor types for the detection of water hazards, and environmental light. This paper analyses and summarizes the research overview and status of some research institutions in the field over the past 20 years, hoping to provide some reference for UGV water hazard detection. In addition, the existing water hazard detection problems are summarized, and future development trends are proposed.

障碍物检测是一项复杂的任务,涉及障碍物特征的检测、合适传感器的识别和环境条件。近二十年来水害检测技术的发展可以看作是典型障碍物检测技术发展历史的一个缩影。本综述对四分之一世纪(20世纪90年代至2021年)的水危害检测论文进行了广泛研究。本文主要从水害的宽度、水害的特征、水害检测的传感器类型、环境光等方面进行综述。本文对近20年来一些研究机构在该领域的研究概况和现状进行了分析和总结,希望能为UGV水害检测提供一些参考。此外,总结了现有水害检测存在的问题,并提出了未来的发展趋势。
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引用次数: 1
Modelling and control strategies in path tracking control for autonomous tracked vehicles: A review of state of the art and challenges 自动履带车辆路径跟踪控制的建模与控制策略:现状与挑战综述
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-02-01 DOI: 10.1016/j.jterra.2022.10.003
Noor Amira Ilyanie Ruslan, Noor Hafizah Amer, Khisbullah Hudha, Zulkiffli Abdul Kadir, Saiddi Ali Firdaus Mohamed Ishak, Syed Mohd Fairuz Syed Dardin

This paper provides a review of path tracking strategies used in autonomous vehicle control design. Several elements of modelling process and path tracking control are examined, including the vehicle model implemented, the path tracking control algorithms used, and the criteria for evaluating the controller's performance. Path tracking control is classified into several forms based on its methodology and linearity. Vehicle models are grouped into numerous types based on the linearity and the intended behaviour to be observed. This study explores each of these strategy in terms of the applicability and disadvantages/advantages. The main challenges in the field of path tracking control are defined and future research directions are offered based on the critical reviews. Based on the entire review, a model-based controller based on a linear vehicle model and assessed with hardware-in-the-loop (HIL) is suggested. This review is aimed to serve as a starting point for determining which controllers to use in path tracking control development for an autonomous tracked vehicle.

本文综述了自动驾驶汽车控制设计中常用的路径跟踪策略。研究了建模过程和路径跟踪控制的几个要素,包括实现的车辆模型,使用的路径跟踪控制算法以及评估控制器性能的标准。根据路径跟踪控制的方法和线性度,将路径跟踪控制分为几种形式。车辆模型根据线性度和拟观察的行为被分成许多类型。本研究从适用性和劣势/优势方面探讨了每一种策略。在综述的基础上,明确了路径跟踪控制领域面临的主要挑战,并提出了未来的研究方向。在此基础上,提出了一种基于线性车辆模型并进行硬件在环评估的基于模型的控制器。本综述旨在为确定在自动履带车辆的路径跟踪控制开发中使用哪些控制器提供一个起点。
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引用次数: 5
Review of modeling methods of compressed snow-tire interaction 压缩雪地轮胎相互作用建模方法综述
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-02-01 DOI: 10.1016/j.jterra.2022.10.004
Yogesh Surkutwar , Corina Sandu , Costin Untaroiu

Snow traction is a key performance characteristic for tire design. Designing snow tires requires extensive testing on snow-covered proving grounds. Thus, numerical simulation could be a more efficient and less costly method of improving tire designs. Various numerical approaches, such as analytical methods, grid-based methods, and particle-based methods were employed for compacted snow modeling in literature. Analytical models of compacted snow were developed based on various assumptions about snow mechanics and tire-snow interaction. With increasing the computational power, grid-based methods (especially Arbitrary Lagrangian Eulerian method) showed to provide effective modeling of complex tire-snow interaction behavior. However, these approaches showed some limitations in modelling large and discontinuous deformation problems associated with tire-snow interaction. Therefore, recently, the use of particle-based methods, which overcome these limitations, has recently sparked interest in tire-snow modeling. The numerical studies related to the modeling tire-snow interaction are briefly reviewed in this paper. Furthermore, various constitutive snow material models and different failure theories used in literature, which are essential for numerical tire-compacted snow simulations, are also reviewed. Overall, this review paper could be useful for researchers interested in modeling the tire – snow interactions and even tire-deformable soil interaction.

雪地牵引力是轮胎设计的一个关键性能特征。设计雪地轮胎需要在积雪覆盖的试验场进行大量的测试。因此,数值模拟可能是一种更有效、成本更低的改进轮胎设计的方法。文献中采用了多种数值方法,如解析法、网格法和粒子法等。基于雪力学和轮胎-雪相互作用的各种假设,建立了压实雪的分析模型。随着计算能力的提高,基于网格的方法(特别是任意拉格朗日-欧拉方法)显示出对复杂的轮胎-雪相互作用行为的有效建模。然而,这些方法在模拟与轮胎-雪相互作用相关的大而不连续的变形问题时显示出一些局限性。因此,最近,使用基于粒子的方法,克服了这些限制,最近引发了对轮胎雪建模的兴趣。本文对轮胎-雪相互作用的数值模拟研究进行了综述。此外,本文还对轮胎压实雪数值模拟所必需的各种本构雪材料模型和不同的失效理论进行了综述。总的来说,这篇综述论文可能对有兴趣模拟轮胎-雪相互作用甚至轮胎-可变形土壤相互作用的研究人员有用。
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引用次数: 4
A photoelastic method for stress analysis of granular terrain beneath a wheel 车轮下颗粒状地形应力分析的光弹性方法
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-01-01 DOI: 10.1016/j.jterra.2023.08.003
Yuto Yoshida, Hikari Sakada, Sota Yuasa, Kenji Nagaoka
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引用次数: 0
Selection of parameters of the disc working bodies of the ripping-separating machine for soil treatment 土壤处理撕裂分离机盘式工作机构参数的选择
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-01-01 DOI: 10.1016/j.jterra.2023.03.005
Yuri Syromyatnikov , Sergey Voinash , Irina Troyanovskaya , Evgeny Tikhonov , Svetlana Partko , Viktoriia Sokolova
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引用次数: 6
期刊
Journal of Terramechanics
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