In this paper, a mathematical model of vehicle tractive performance was developed and various center of gravity and height of application force movement effects were analysed by mathematical simulation. For given set of vehicle dimensions and terrain -wheel system constants, the simulation calculated, effective tractive effort and rear wheel sinkage, slip ratio of a special designed wheeled robotic vehicle running over sloped weak sandy terrain for straight forward motion. For a 5.88 kN weight vehicle, it is clarified that the optimal eccentricity of center of gravity and the optimal application height are determined as 116 and 35 cm respectively, for the range of slope angle less than n/18 rad during driving state of the rear wheel etc..
1: IntroductionThis paper addresses the general problem of the design of wheel-base travel systems for special purpose vehicle and robotic machines that are required to move over weak surface or over light bonded terrain of a sandy soil. In relation to the special case of a vehicle travelling on a weak sloped sandy terrain under construction, the paper presents detailed studies of the tractive performance of rear-wheel drive system vehicle with an alternative eccentricity of center of gravity and applcation height configulations. For these studies, a detailed simulation-analytic method was used. Some possibilities for the real time optimal control of the tractive performance of automated and robotic vehicle are outlined.The objective of this paper is to establish the control system of the position of the eccentricity of center of gravity and the application height of the tractive effort to optimize the tractive performance of a wheeled vehicle. This offers the possibility of dynamically varying these parameters during vehicle travel to maximize traction effort for straight forward motion.Here, the mechanism of the tractive performance of a 5.88 kN weight, two-axle, four-wheel vehicle with rear-wheel drive system moving up during driving action a sloped terrain of an air-dried decomposed granite soil is considered mathematically. The tractive performance of the wheeled vehicle constructed by two front wheels during unpowered rolling state and two rear wheels during driving action is simulated for a given set of dimension of the vehicle and terrain-wheel system constants. The relationship among the effective tractive effort of the vehicle, the effective driving force of the rear wheel, the amount of sinkage of the front and rear wheel, and the slip ratio of the rear wheel is analysed by use of the simulation-analytic program.Based on the simulation analytical results, the optimal eccentricity of center of gravity and the optimal application height to obtain the largest effective tractive effort of the vehicle can be determined. Then the effect of the slope angle on the optimal eccentricity of center of gravity and the optimal application height is investigated.Finally, several automatic control systems to maintain these optimal positions of the eccentricity and the applic...
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