[1] Yang Fan, Lin Guoyu, Zhang Weigong, et al. Experimental analysis of the slip sinkage effectbased on real vehicle test [J]. Journal of Southeast University (English Edition), 2016, 32 (2): 201-207. [doi:10.3969/j.issn.1003-7985.2016.02.012]

Copy

Experimental analysis of the slip sinkage effectbased on real vehicle test()

Share：

Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

32

Issue:

2016 2

Page:

201-207

Research Field:

Traffic and Transportation Engineering

Publishing date:

2016-06-20

Info

Title:

Experimental analysis of the slip sinkage effectbased on real vehicle test

Author(s):

Yang Fan¹;  2;  Lin Guoyu¹;  Zhang Weigong¹;  Wang Ningbo¹

¹School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
²The 14th Research Institute, China Electronics Technology Group Corporation, Nanjing 210013, China

Keywords:

vehicle trafficability;  slip sinkage effect;  Gauss-Newton algorithm;  real vehicle test;  wheel force transducer

PACS:

U461.5

DOI:

10.3969/j.issn.1003-7985.2016.02.012

Abstract:

To improve the semi-empirical model, the slip sinkage effect is analyzed based on the real vehicle test. A dynamic testing system is used to gain the dynamic responses of wheel-soil interactions. The Gauss-Newton algorithm is adopted to estimate the undetermined parameters involved in the slip sinkage models. Wong’s original model is compared with three typical slip sinkage models on the prediction performance of a drawbar pull. The maximum error rate, root mean squared error and correlation coefficient are utilized to evaluate the performance. The results indicate that the slip sinkage models outperform Wong’s model and greatly improve the prediction accuracy. Lyasko’s model is confirmed as an outstanding one for its comprehensive performance. Hence, the existence of the slip sinkage effect is validated. Lyasko’s model is selected as an optimal one for the practical evaluation of military vehicle trafficability.

References:

[1] Bekker M G. Theory of land locomotion: The mechanics of vehicle mobility [M]. Ann Arbor, USA: The University of Michigan Press, 1956.
[2] Bekker M G. Introduction to terrain-vehicle system [M]. Ann Arbor, USA: The University of Michigan Press, 1969.
[3] Wong J Y. Terramechanics and off-road vehicle [M]. Amsterdam, Holland: Elsevier, 1989.
[4] Wong J Y. Theory of ground vehicles [M]. New York: John Wiley & Sons, 2008.
[5] Tiwari V K, Pandey K P, Pranav P K. A review on traction prediction equations [J]. Journal of Terramechanics, 2010, 47(3): 191-199. DOI:10.1016/j.jterra.2009.10.002.
[6] Reece A R. Principles of soil-vehicle mechanics [J]. Proceedings of the Institution of Mechanical Engineers: Automobile Division, 1965, 180(1): 45-66.
[7] Azimi A, Kovecses J, Angeles J. Wheel-soil interaction model for rover simulation and analysis using elastoplasticity theory [J]. IEEE Transactions on Robotics, 2013, 29(5): 1271-1288. DOI:10.1109/tro.2013.2267972.
[8] Ding L, Gao H B, Deng Z Q, et al. New perspective on characterizing pressure-sinkage relationship of terrains for estimating interaction mechanics [J]. Journal of Terramechanics, 2014, 52(1): 57-76. DOI:10.1016/j.jterra.2014.03.001.
[9] Ding L, Gao H B, Deng Z Q, et al. Wheel slip sinkage and its prediction model of lunar rover [J]. Journal of Central South University of Technology, 2010, 17(1): 129-135. DOI:10.1007/s11771-010-0021-7.
[10] Lyasko M. Slip sinkage effect in soil-vehicle mechanics [J]. Journal of Terramechanics, 2010, 47(1): 21-31. DOI:10.1016/j.jterra.2009.08.005.
[11] Vasil’ev A V, Dokychaeva E N, Utkin-Lubovtsov O L. Effect of tracked tractor design parameters on tractive performance [R]. Moscow: Mashinostroenie, 1969.
[12] Knuth M A, Johnson J B, Hopkins M A, et al. Discrete element modeling of a Mars Exploration Rover wheel in granular material [J]. Journal of Terramechanics, 2012, 49(1): 27-36. DOI:10.1016/j.jterra.2011.09.003.
[13] Wong J Y. Predicting the performances of rigid rover wheels on extraterrestrial surfaces based on test results obtained on earth [J]. Journal of Terramechanics, 2012, 49(1): 49-61. DOI:10.1016/j.jterra.2011.11.002.
[14] Janoshi Z, Hanamoto B. An analytical determination of drawbar pull as a function of slip for tracked vehicles in deformable soils [C]//The 1st International Conference on the Mechanics of Moil-Vehicle Systems.Turin, Italy, 1961: 132-138.
[15] Tao T, Nehorai A. Information-driven distributed maximum likelihood estimation based on Gauss-Newton method in wireless sensor networks [J]. IEEE Transaction Signal Processing, 2007, 55(9): 4669-4682.
[16] Yao L H, Guo Y F. Hybrid algorithm for parameter estimation of the groundwater flow model with an improved genetic algorithm and Gauss-Newton method [J]. Journal of Hydrologic Engineering, 2014, 19(3): 482-494. DOI:10.1061/(asce)he.1943-5584.0000823.
[17] Yang F, Lin G Y, Zhang W G. A new dynamic testing system for wheel-soil interactions [C]//IEEE Instrumentation and Measurement Technology Conference. Pisa, Italy, 2015: 1331-1336.
[18] Lin G Y, Zhang W G, Yang F, et al. An initial value calibration method for the wheel force transducer based on memetic optimization framework [J]. Mathematical Problem in Engineering Paper, 2013, 2013: 275060-1-275060-10. DOI:10.1155/2013/275060.
[19] Smith W, Melanz D, Senatore C, et al. Comparison of DEM and traditional modeling methods for simulating steady-state wheel-terrain interaction for small vehicles [C]//Proceedings of the 7th Americas Regional Conference of the ISTVS. Tampa, FL, USA, 2013: 1-16.
[20] Reina G, Ojeda L, Milella A, et al. Wheel slippage and sinkage detection for planetary rovers [J]. IEEE/ASME Transactions on Mechatronics, 2006, 11(2): 185-195. DOI:10.1109/tmech.2006.871095.

Memo

Memo:

Biographies: Yang Fan(1988—), male, graduate; Lin Guoyu(corresponding author), male, doctor, professor, andrew.lin@seu.edu.cn.
Foundation items: The National Natural Science Foundation of China(No. 51305078), the Science and Technology Plan of Suzhou City(No. SYG201303).
Citation: Yang Fan, Lin Guoyu, Zhang Weigong, et al. Experimental analysis of the slip sinkage effect based on real vehicle test[J].Journal of Southeast University(English Edition), 2016, 32(2):201-207.doi:10.3969/j.issn.1003-7985.2016.02.012.

Common functions