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Measurement of terrain values and drawbar pullfor six wheeled vehicle on sand
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.ORCID-id: 0000-0002-4048-3452
2008 (Engelska)Ingår i: 16th International Conference of the International Society for Terrain-Vehicle Systems, Turin, 2008Konferensbidrag, Publicerat paper (Övrigt vetenskapligt)
Abstract [en]

A method to measure terrain parameters and drawbar pull for a six-wheeled vehicle on sand is proposed,tested and evaluated. The method is developed in order to be able to validate previously proposedtire/terrain models that are developed to simulate the behaviour of a six-wheeled vehicle withelectric transmission on soft ground. Tests were performed at different tire pressures, and it is shownthat the drawbar pull is vastly improved at lower tire pressure. Since the tire/terrain model uses terrainparameters such as pressure–sinkage and shear stress–displacement relationships, the sand propertiesare measured with a Bevameter. Parameters in the pressure–sinkage relationship are estimated to fitthe measured data. Both external and internal shearing properties of the sand are measured using arubber coated shear ring and a shear ring with grousers, respectively. The measured shear behaviouris shown to agree reasonably well with shear curves of simple exponential form. This will be a basein the development of a strategy to get improved cross country characteristics of six-wheeled vehicleswith individually controlled electric transmission on soft ground.

Ort, förlag, år, upplaga, sidor
Turin, 2008.
Nyckelord [en]
mobility, wheeled vehicles, soft ground, Bevameter
Nationell ämneskategori
Farkostteknik
Identifikatorer
URN: urn:nbn:se:kth:diva-25520Scopus ID: 2-s2.0-70449611443OAI: oai:DiVA.org:kth-25520DiVA, id: diva2:358907
Konferens
16th International Conference of the International Society for Terrain-Vehicle Systems
Anmärkning
Q 20101026Tillgänglig från: 2010-10-26 Skapad: 2010-10-25 Senast uppdaterad: 2010-10-26Bibliografiskt granskad
Ingår i avhandling
1. Improving a six-wheeler’sperformance both on- and off-road
Öppna denna publikation i ny flik eller fönster >>Improving a six-wheeler’sperformance both on- and off-road
2010 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

In vehicles with electric transmission and independent wheel stations, there is apossibility to control propulsion, steering and suspension individually for eachwheel. This makes it possible to improve mobility in terrain as well as performanceand driving safety on road. This contribution concerns how a six wheeledelectric transmission vehicle should be modelled to enable evaluation of thedynamic behaviour both in terrain and on road. This is made by combiningmodelling of vehicle, transmission and tyre/terrain behaviour.A tyre/terrain model is needed to simulate driving on soft ground. Heretyre/terrain models for simulating driving with both rigid and pneumatic wheelson soft ground have been developed. A method to measure terrain parametersand drawbar pull for a six-wheeled vehicle on sand is proposed, tested andevaluated.To simulate a six wheeled vehicle at the handling limit on road, a vehicle modelwith a brush tyre model is used in order to get physically reasonable simulationresults during high combined slip conditions. Different vehicle configurationsare considered, where front wheel steering is combined with eithersecond axle steering, rear wheel steering or individual wheel torque control.By applying different vehicle slip angles and thereby limiting the DOF of thevehicle model, the vehicle configurations are evaluated during different drivingconditions. The results show that by applying individual torque control to thefront wheel steered vehicle, the performance is improved for all evaluated manoeuvres,and the achievable aligning torque during a rear wheel skid increasessignificantly if the vehicle slip angle is larger than the maximum front wheelsteering angle.To conclude, models of a six-wheeled vehicle with electric transmission andtyre models both for soft and rigid ground have been developed. These modelsform a simulation platform, which makes it possible to evaluate controlstrategies for the electric transmission with the purpose to improve mobility interrain as well as performance and driving safety on road. Some examples ofapplications of the models are included, e.g. improving at-the-limit handlingand pivot turning performance.

Ort, förlag, år, upplaga, sidor
Stockholm: KTH, 2010. s. viii, 69
Serie
Trita-AVE, ISSN 1651-7660 ; 2010:61
Nationell ämneskategori
Farkostteknik
Identifikatorer
urn:nbn:se:kth:diva-25519 (URN)978-91-7415-766-6 (ISBN)
Disputation
2010-11-09, F3, Lindstedtsvägen 26, KTH, Stockholm, 10:00 (Engelska)
Opponent
Handledare
Anmärkning
QC 20101026Tillgänglig från: 2010-10-26 Skapad: 2010-10-25 Senast uppdaterad: 2010-10-26Bibliografiskt granskad

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