Control and measuring modernization systems of the “Soil Channel” stand and the development of a wheel motion mathematical model in stand conditions

Trudy NAMI ◽  
2021 ◽  
pp. 25-34
Author(s):  
B. B. Kositsyn ◽  
Kh. Chzhen ◽  
R. L. Gazizullin
Keyword(s):  
Experimental Data ◽  
Mathematical Model ◽  
Thrust Force ◽  
Bench Test ◽  
Large Set ◽  
Virtual Experiments ◽  
Automatic Mode ◽  
Wheel Rolling ◽  
Adaptive Laws ◽  
Stand Conditions

Introduction (problem statement and relevance). A promising direction for reducing a vehicle moving energy is the application of adaptive laws for controlling the power supplied to the propeller based on neural networks. To create a training array of the latter, a large set of experimental data is required, the collection of which, as a rule, is carried out by using research stands, such as the “Soil Channel”. But the fi eld studies require a lot of resources.The purpose of the study was to create a wheel rolling mathematical model in the conditions of the stand, with the help of which it would be possible to organize the collection of needed statistical data on the wheel rolling modes by calculation them in an automatic mode.Methodology and research methods. The paper describes the “Soil Channel” bench test, held by the Department of “Multipurpose tracked vehicles and mobile robots” of Bauman Moscow State Technical University. A list of the control and measuring systems components used in the process of its modernization in order to automate the collection of experimental data was considered. The “Soil Channel” stand mathematical model was presented which was based on the use of experimentally obtained dependences of the specifi c longitudinal thrust force on sliding and the specifi c longitudinal thrust force on the specifi c circumferential force.Scientifi c novelty and results. The developed mathematical model has been verifi ed on the basis of the data obtained in the course of fi eld studies. Conclusions were made about the suitability of the developed mathematical model of wheel motion under the stand conditions for conducting virtual experiments.Practical signifi cance. The data obtained by applying the developed mathematical model can be used to create a training array of a neural network to provide the implementation of adaptive laws for controlling the power supplied to the propeller.

A New Look at the Problem of Wear on Wheel Rolling

2021 ◽  
Vol 42 (2) ◽  
pp. 101-105
Author(s):  
L. A. Sladkova ◽  
A. N. Neklyudov
Keyword(s):  
Wheel Rolling ◽  
New Look

Use of the kinematic radius in the rolling mechanics of an elastic wheel

2021 ◽  
pp. 17-27
Author(s):  
V.I. Kopotilov
Keyword(s):  
Traction Force ◽  
Rolling Resistance ◽  
Kinematic Parameter ◽  
Resistance Force ◽  
Elastic Wheel ◽  
Wheel Rolling ◽  
Physical Essence ◽  
Braking Force ◽  
Rolling Mode

The analysis of the physical essence of the kinematic and dynamic radii of the wheel is given. It is stated that the rolling radius of the wheel is a conditional kinematic parameter that characterizes only the rolling mode of the wheel. It is not the shoulder of all longitudinal forces acting on the wheel and should not be used to determine tractive forces, rolling resistance and wheel braking forces. Specific examples are given to illustrate the inappropriateness of using the kinematic radius to determine forces and moments. Keywords: elastic wheel, rolling radius, kinematic radius, dynamic radius, arm of force, traction force, rolling resistance force, braking force, rolling mode

scholarly journals Analytical determination of application point and normal reaction arm when rolling a wheel on a drum

2021 ◽  
Vol 341 ◽  
pp. 00039
Author(s):  
Maria Karelina ◽  
Tatyana Balabina ◽  
Alexey Mamaev
Keyword(s):  
Rolling Resistance ◽  
Analytical Determination ◽  
Support Surface ◽  
Rigid Support ◽  
Normal Reaction ◽  
Normal Forces ◽  
Elastic Wheel ◽  
Wheel Rolling ◽  
Force Equilibrium

Evaluation of the rolling resistance of car tires is now often performed on drum stands like car tests. This necessitates the study of the mechanics of interaction between the wheel and the drum in order to determine its force and kinematic characteristics, including the values and points of application of tangential and normal forces in contact with the drum. These problems can be solved taking into account that the mechanics of elastic wheel rolling on a drum is the same as when rolling on a flat rigid support surface. In this paper, from consideration of the mechanics of interaction between an elastic wheel and a drum, using the equations of power balance and force equilibrium of the wheel, the equations for determining the point of normal reaction in contact and its arm relative to the wheel axis during its rolling along one and two drums have been derived.. These dependencies have a simple form and can be applied when considering the rolling of both a single wheel and the car as a whole on a drum stand.

THE ISSUE OF CALCULATED MODELS OF WHEEL ROLLING

2021 ◽  
pp. 1-15
Author(s):  
Andrey Mikhaylovich Avanesyan ◽  
Victor Alekseevich Oberemok ◽  
Nikolai Viktorovich Sergeyev
Keyword(s):  
Wheel Rolling

scholarly journals Method for determining road rut depth and power related to rutting upon wheel rolling

2020 ◽  
Vol 50 ◽  
pp. 430-435
Author(s):  
Aleksey Mamaev ◽  
Tatiana Balabina ◽  
Mariya Karelina
Keyword(s):  
Wheel Rolling

On the vibration analysis of off-road vehicles: Influence of terrain deformation and irregularity

2018 ◽  
Vol 24 (22) ◽  
pp. 5418-5436 ◽  
Author(s):  
Giulio Reina ◽  
Antonio Leanza ◽  
Arcangelo Messina
Keyword(s):  
Performance Optimization ◽  
Operating Conditions ◽  
Vehicle Body ◽  
Surface Irregularity ◽  
Parameter Study ◽  
Road Vehicles ◽  
Wheel Rolling ◽  
And Performance ◽  
Underlying Mechanisms ◽  
The Impact

Surface irregularity acts as a major excitation source in off-road driving that induces vibration of the vehicle body through the tire assembly and the suspension system. When adding ground deformability, this excitation is modulated by the soil properties and operating conditions. The underlying mechanisms that govern ground behavior can be explained and modeled drawing on Terramechanics. Based on this theory, a comprehensive quarter-car model of off-road vehicle is presented that takes into account tire/soil interaction. The model can handle the general case of compliant wheel rolling on compliant ground and it allows ride and road holding performance to be evaluated in the time and frequency domain. An extensive set of simulation tests is included to assess the impact of various surface roughness and ground deformability through a parameter study, showing the potential of the proposed model to describe the behavior of off-road vehicles for design and performance optimization purposes.

scholarly journals Fuzzy Sliding Mode Wheel Slip Ratio Control for Smart Vehicle Anti-Lock Braking System

Energies ◽  
2019 ◽  
Vol 12 (13) ◽  
pp. 2501 ◽  
Author(s):  
Jinhong Sun ◽  
Xiangdang Xue ◽  
Ka Wai Eric Cheng
Keyword(s):  
Controller Design ◽  
Adhesion Force ◽  
Sliding Mode ◽  
Rolling Friction ◽  
Resistance Force ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Braking System ◽  
Wheel Rolling ◽  
Braking Torque

With the development of in-wheel technology (IWT), the design of the electric vehicles (EV) is getting much improved. The anti-lock braking system (ABS), which is a safety benchmark for automotive braking, is particularly important. Installing the braking motor at each fixed position of the wheel improves the intelligent control of each wheel. The nonlinear ABS with robustness performance is highly needed during the vehicle’s braking. The anti-lock braking controller (CAB) designed in this paper considered the well-known adhesion force, the resistance force from air and the wheel rolling friction force, which bring the vehicle model closer to the real situation. A sliding mode wheel slip ratio controller (SMWSC) is proposed to yield anti-lock control of wheels with an adaptive sliding surface. The vehicle dynamics model is established and simulated with consideration of different initial braking velocities, different vehicle masses and different road conditions. By comparing the braking effects with various CAB parameters, including stop distance, braking torque and wheel slip ratio, the SMWSC proposed in this paper has superior fast convergence and stability characteristics. Moreover, this SMWSC also has an added road-detection module, which makes the proposed braking controller more intelligent. In addition, the important brain of this proposed ABS controller is the control algorithm, which can be used in all vehicles’ ABS controller design.

On the wheel rolling contact fatigue of high power AC locomotives running in complicated environments

Wear ◽  
2019 ◽  
Vol 436-437 ◽  
pp. 202956 ◽  
Author(s):  
Yongfeng Liu ◽  
Tao Jiang ◽  
Xin Zhao ◽  
Zefeng Wen ◽  
Shulin Liang
Keyword(s):  
High Power ◽  
Rolling Contact Fatigue ◽  
Contact Fatigue ◽  
Rolling Contact ◽  
Wheel Rolling
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