An improved LuGre model for calculating static steering torque of rubber tracked chassis

Kang, Liang; Tu, Qunzhang; Shen, Xinmin; Fang, Zhonghang; Yang, Xuan; Yong, Zhang; Xiang, Huiyu

doi:10.1016/j.dt.2021.03.026

Cited by 7 publications

(3 citation statements)

References 26 publications

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“…When vehicles pass across the asperities of a rough surface pavement, the hysteresis component reflects the energy lost during this process, as the rubber is alternately compressed and decompressed [ 47 , 48 ]. The hysteresis friction function is expressed in Equation (3).…”

Section: Methodsmentioning

confidence: 99%

Optimizing the Texturing Parameters of Concrete Pavement by Balancing Skid-Resistance Performance and Driving Stability

Zhang

Long³

et al. 2021

Materials

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Curved texturing is an effective technique to improve the skid-resistance performance of concrete pavements, which relies on the suitable combination of the groove parameters. This study aims to optimize these parameters with the consideration of skid-resistance performance and driving stability. A pressure film was adopted to obtain the contact stress distribution at the tire–pavement interface. The evaluated indicator of the stress concentration coefficient was established, and the calculation method for the stationary steering resistance torque was optimized based on actual tire–pavement contact characteristics. Test samples with various groove parameters were prepared use self-design molds to evaluate the influence degree of each groove parameter at different levels on the skid-resistance performance through orthogonal and abrasion resistance tests. The results showed that the groove depth and groove spacing had the most significant influence on the stress concentration coefficient and stationary steering resistance torque, respectively, with the groove depth having the most significant influence on the texture depth. Moreover, the driving stability and durability of the skid-resistance performance could be balanced by optimizing the width of the groove group. After analyzing and comprehensively comparing the influences of various parameters, it was found the parameter combination with width, depth, spacing, and the groove group width, respectively, in 8 mm, 3 mm, 15 mm, and 50 mm can balance the skid-resistance performance and driving stability. The actual engineering results showed that the R2 of the fitting between the stress concentration coefficient and SFC (measured at 60 km/h) was 0.871, which proved the effectiveness of the evaluation index proposed in this paper.

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Section: Methodsmentioning

confidence: 99%

Optimizing the Texturing Parameters of Concrete Pavement by Balancing Skid-Resistance Performance and Driving Stability

Zhang

Long³

et al. 2021

Materials

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“…The first stage load distribution enables load distribution from the high-speed rubber track assembly to hinge points 1 and 2. Therefore, according to the bearing and structural parameters of the high-speed rubber track assembly, the load of the high-speed rubber track assembly load wheel can be expressed as shown in Equation (1) [ 26 ].

where,

is axle load;

is the weight of the high-speed rubber track assembly;

is the load of hinge point 1;

is the load of hinge point 2;

and

is the load of load wheel 1–4 respectively;

is the distance between

and

along the X axis;

is the distance between

and

along the X axis;

is the distance between

and

along the X axis;

is the distance between

and

along the X axis;

is the distance between …”

Section: Model Developmentmentioning

confidence: 99%

Modeling and Verification of Rolling Resistance Torque of High-Speed Rubber Track Assembly Considering Hysteresis Loss

Kang

Shen

et al. 2023

Polymers

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Due to the viscoelasticity of rubber materials, hysteresis loss due to deformation is the main reason for the rolling resistance of high-speed rubber tracks. Since the structure and material of high-speed rubber track assemblies are different from traditional tires and metal tracks, the rolling resistance theory of traditional wheeled and tracked vehicles is not applicable. Therefore, in order to determine the rolling resistance scientifically and accurately, the mechanism research of the rolling resistance of high-speed rubber track assembly is the key to the design of high-speed rubber crawler vehicles. In this paper, the stress–strain characteristics of rubber track under the action of compression, tension, bending, and driving were studied. The strain load spectrum of rubber tracks was established, and the strain cyclic load was extracted by the rainflow method. The temperature model of the rubber track was developed based on its dynamic characteristics. On the basis of energy conservation, the hysteresis loss of rubber is equivalent to the energy consumption of rolling resistance, and the theoretical model of rolling resistance of high-speed rubber track assembly is established. In accordance with the model above, the key influencing factors and changing trends of rolling resistance are analyzed, which provides a theoretical basis for the performance optimization of high-speed rubber track assembly.

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“…Canudas-de-Wit C et al [10] used the LuGre model to describe the friction characteristics between the tread and the ground of a vehicle under braking conditions and tested the accuracy of the model. Liang K [11] considered the influence of friction heating and established an improved LuGre model in order to better capture the change in friction torque during multiple in situ turns caused by frictional heating. Shao R [12] devised a dynamic friction model for rubber considering the dissipative elasticity When the rubber material slides along the road surface, the surface molecules of the rubber and the road surface molecules adhere under the influence of intermolecular forces.…”

Section: Introductionmentioning

confidence: 99%

A Study of the Friction Characteristics of Rubber Thermo-Mechanical Coupling

Liu,

Wang,

Yin

2024

Polymers

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The friction performance of tread rubber is related to the safety of the vehicle during driving, especially in terms of shifting speeds, cornering, and changing environmental factors. The experimental design used in this paper employed a self-developed automatic multi-working-condition friction tester to investigate the correlation between the friction coefficient of three tread formulations and various factors, including speed, pressure, temperature, side deflection angle, and lateral camber. This experimental study demonstrates that the coefficient of friction decreases with increasing load and increases with increasing sliding velocities due to changes in adhesion friction. Due to the increasing and decreasing changes in rubber adhesion and hysteresis friction caused by temperature, the coefficient of friction shows a tendency to increase and then decrease with the increase in temperature; thus, temperature has an important effect on the coefficient of friction. Based on the basic theory of friction and experimental research, the Dorsch friction model was modified in terms of temperature, and the analytical relationship between the rubber friction coefficient and the combined variables of contact pressure, slip velocity, and temperature was established, which is more in line with the actual situation of rubber friction. The model predictions were compared with the experimental results, and the error accuracy was controlled within 5%. This verifies the accuracy of the model and provides a theoretical basis for the study of rubber friction.

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An improved LuGre model for calculating static steering torque of rubber tracked chassis

Cited by 7 publications

References 26 publications

Optimizing the Texturing Parameters of Concrete Pavement by Balancing Skid-Resistance Performance and Driving Stability

Optimizing the Texturing Parameters of Concrete Pavement by Balancing Skid-Resistance Performance and Driving Stability

Modeling and Verification of Rolling Resistance Torque of High-Speed Rubber Track Assembly Considering Hysteresis Loss

A Study of the Friction Characteristics of Rubber Thermo-Mechanical Coupling

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