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Comparison of measured and simulated drawbar pull forsix wheeled vehicle with radial pneumatic tyres on sand
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.ORCID iD: 0000-0002-4048-3452
(English)In: Journal of terramechanics, ISSN 0022-4898, E-ISSN 1879-1204Article in journal (Other academic) Submitted
Abstract [en]

To enable improved cross country characteristics of wheeled vehicles with individually controlled transmission on soft ground,suitable tyre/terrain models are needed. Here tyre/terrain models for simulating driving with both rigid and pneumatic wheels onsoft ground have been developed. A method to measure terrain parameters and drawbar pull for a six-wheeled vehicle on sand isproposed, tested and evaluated. The method is developed in order to be able to validate the proposed tyre/terrain models includingboth rigid and pneumatic wheels that are developed to simulate the behaviour of a six-wheeled vehicle with electric transmissionon soft ground. Tests were performed at different tyre pressures, and it is shown that the drawbar pull is vastly improved atlower tyre pressures. Since the tyre/terrain model uses terrain parameters such as pressure–sinkage and shear stress–displacementrelationships, the sand properties are measured with a Bevameter. Parameters in the pressure–sinkage relationship are estimated tofit the measured data. Both external and internal shearing properties of the sand are measured using a rubber coated shear ring anda shear ring with grousers, respectively. Shear curves of simple exponential form from the developed tyre/terrain models are shownto agree reasonably well with the measured shear behaviour. This will be the base in the development of a strategy to get improvedcross country characteristics of six-wheeled vehicles.

Keyword [en]
mobility, wheeled vehicles, soft ground, Bevameter
National Category
Vehicle Engineering
Identifiers
URN: urn:nbn:se:kth:diva-25521OAI: oai:DiVA.org:kth-25521DiVA: diva2:358908
Note
QC 20101026Available from: 2010-10-26 Created: 2010-10-25 Last updated: 2017-12-12Bibliographically approved
In thesis
1. Improving a six-wheeler’sperformance both on- and off-road
Open this publication in new window or tab >>Improving a six-wheeler’sperformance both on- and off-road
2010 (English)Doctoral thesis, comprehensive summary (Other academic)
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.

Place, publisher, year, edition, pages
Stockholm: KTH, 2010. viii, 69 p.
Series
Trita-AVE, ISSN 1651-7660 ; 2010:61
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-25519 (URN)978-91-7415-766-6 (ISBN)
Public defence
2010-11-09, F3, Lindstedtsvägen 26, KTH, Stockholm, 10:00 (English)
Opponent
Supervisors
Note
QC 20101026Available from: 2010-10-26 Created: 2010-10-25 Last updated: 2010-10-26Bibliographically approved

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Stensson Trigell, Annika

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