Research on the disturbance behaviour of the track chassis to the sand-gravel pavement during the steering process of the electric shovel based on DEM

Chen, Zeren; Xue, Duomei; Guan, Wei; Liu, Zhengbin; Guo, Jianbo; Wang, Guoqiang; Wang, Shuai

doi:10.1016/j.apt.2022.103731

Cited by 8 publications

(5 citation statements)

References 47 publications

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“…Through the comparative analysis of the motion state of the rotary tillage blade operation process, the critical velocity segmentation method [41] was used to calculate the disturbance area of the rotary tillage blade to the soil. According to the particle velocity from small to large, the order is blue, green and red.…”

Section: Soil Disturbance Test Results and Analysismentioning

confidence: 99%

Discrete element parameter calibration and wear characteristics analysis of soil-rotary tillage blade in gneiss mountainous area

Jia

Zhao

et al. 2023

Preprint

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Aiming at the problems of fast wear and short service life of rotary tillage blade in gneiss mountainous area, and the lack of accurate and reliable discrete element simulation parameters for exploring the interaction mechanism between soil and rotary tillage blade, taking the typical gneiss sandy loam in Taihang Mountain as the research objects, the relevant simulation parameters were calibrated and the wear characteristics of rotary tillage blade were analyzed. Firstly, the contact parameters between soil particles were calibrated. Taking the simulated accumulation angle of soil particles as the response value, the significance of the influencing factors was screened based on the Placket-Burman test in the Design-Expert software. Through the steepest climbing test and Box-Behnken test, the regression model of soil accumulation angle was determined. Through model optimization, the JKR surface energy, collision recovery coefficient, static friction coefficient and rolling friction coefficient are 4.85 J/m2,0.24,0.1 and 0.25, respectively. At this time, the simulated value of soil accumulation angle is 42.21°, and the relative error between the simulated value and the measured value is 3.8%. Secondly, the contact parameters between soil and 65 Mn steel were calibrated,and the static friction coefficient, rolling friction coefficient and collision recovery coefficient between soil and 65Mn steel were obtained through static friction, inclined plane and inclined plate collision tests. Taking the sliding friction angle of soil on 65Mn steel plate as the response value, the regression model of soil sliding friction angle was obtained based on Box Behnken method. By optimizing the model, the static friction coefficient, rolling friction coefficient and collision recovery coefficient between soil and 65 Mn steel are 0.49,0.13 and 0.32 respectively. At this time, the simulation value of static sliding friction angle is 19.90°, and the relative error with the measured value is 5.7%. Finally, the calibration parameters are verified to be accurate and reliable by soil disturbance test. Through the wear test and wear law analysis, it is concluded that the serious wear parts of the rotary tillage blade are mainly concentrated in the blade part and the tail of the tangential blade.,in which the tangent blade and side cutting blade wear more, and the wear at the transition between tangent blade and side cutting blade is relatively small.When the rotational speed of the rotary tillage blade is 160 ~ 200 r/min, the wear amount is not much different ; when the speed is greater than 200 r /min, the wear amount increases obviously. With the increase of rotational speed, the wear rate of rotary tillage blade increases. When the rotational speed is 160 ~ 200 r/min, the wear rate of rotary tillage blade is slower, while when the rotational speed is 220 ~ 240 r/min, the wear rate of rotary tillage blade is faster. When the rotational speed is 260 ~ 300 r/min, the wear rate of rotary tillage blade is the fastest. In addition, with the increase of tillage depth and forward speed, the wear amount and wear rate of rotary tillage blade also increase.

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Section: Soil Disturbance Test Results and Analysismentioning

confidence: 99%

Discrete element parameter calibration and wear characteristics analysis of soil-rotary tillage blade in gneiss mountainous area

Jia

Zhao

et al. 2023

Preprint

View full text Add to dashboard Cite

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“…Based on the control strategy, it processes these inputs to determine the target torque for the motors on both sides and sends it via the CAN bus to control the steering of the tracked vehicle. Unlike motor speed adjustment methods, this torque adjustment control method requires the driver to adjust the input signals in real time based on feedback received about the chassis' current state, ensuring that the vehicle operates in accordance with the driver's intentions [31].…”

Section: Control System Schemementioning

confidence: 99%

Control of Pivot Steering for Bilateral Independent Electrically Driven Tracked Vehicles Based on GWO-PID

Liu,

Yang,

Xia

2024

WEVJ

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In this study, the optimization problem for controlling the pivot steering function of tracked vehicles is addressed. Firstly, kinematic modeling of the pivot steering process of tracked vehicles is conducted. Secondly, the control system of tracked vehicles is decoupled, and PID control algorithms for vehicle speed and yaw rate are separately designed. Furthermore, the parameters of the PID controllers are optimized using the Grey Wolf Optimizer algorithm. Finally, by constructing a joint simulation model using Matlab/Simulink + RecurDyn (V9R4), the simulation results indicate that the above control algorithm can effectively improve the tracking speed of tracked vehicles on vehicle speed and yaw rate under the pivot steering condition, quickly respond to the driver’s driving intention, and ensure the stability of the pivot steering process, providing an effective basis for further research on the pivot steering function of tracked vehicles.

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“…After starting, the heading angle deviation of the vehicle increased rapidly, reaching the maximum deviation of 25.7° in about 6 s, and quickly decreased to near 0 in the following 15 s. In terms of speed, the vehicle reached the maximum value of 0.316 m/s in about 4.5 s, gradually decreased after maintaining for 3 s and finally maintained speed at 0.2 m/s from 14 s. Since curve conditions better reflect the performance of control methods, they are commonly used as the primary basis for evaluating and optimizing these methods. In previous studies [21], the sliding mode control method and the Lyapunov-based backstepping sliding mode control method were employed, and the experimental comparison results are shown in Table 2. Based on the contents of Table 2, it is evident that the method proposed in this paper outperforms the sliding mode control method and the Lyapunovbased backstepping sliding mode control method in terms of position deviation and heading angle deviation.…”

Section: Curved Working Conditions Testmentioning

confidence: 99%

“…Since curve conditions better reflect the performance of control methods, they are commonly used as the primary basis for evaluating and optimizing these methods. In previous studies [21], the sliding mode control method and the Lyapunov-based backstepping sliding mode control method were employed, and the experimental comparison results are shown in Table 2. Based on the contents of Table 2, it is evident that the method proposed in this paper outperforms the sliding mode control method and the Lyapunov-based backstepping sliding mode control method in terms of position deviation and heading angle deviation.…”

Section: Curved Working Conditions Testmentioning

confidence: 99%

Research on the Model Predictive Trajectory Tracking Control of Unmanned Ground Tracked Vehicles

Wang

Guo

Mao

et al. 2023

Drones

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This article summarizes the research significance and the development status of the unmanned ground tracked vehicles (UGTVs). According to the speed and steering principle of the UGTVs in plane motion, the kinematic state space equation of the vehicle is established. Based on the model predictive control (MPC), the UGTVs trajectory tracking controller is also established. After introducing the overall control system solution, based on the vehicle model, the track speed on both sides is used as the control input to solve the predicted output of the system. After constraining the control amount, the model prediction controller is established by using S function. Several simulations with different preset speeds are performed under linear conditions, and the numerical simulation with different prediction time domains and control time domains are performed under continuous curves. The test validates the effectiveness of the controller, and the effects of speed and time domain parameters on the deviation are analyzed based on the results. Based on satellite positioning technology, trajectory tracking tests of the UGTVs are carried out. After analyzing the positioning principle and common errors, the real-time kinematic technology is used to improve the positioning accuracy of the vehicle prototype. The hardware of the test platform includes a data acquisition system, a control execution system and a walking execution system, and the software part includes data processing and optimization control. The trajectory tracking experiments under different driving conditions are conducted, and the results show that the navigation tracking system can achieve good tracking performance.

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Research on the disturbance behaviour of the track chassis to the sand-gravel pavement during the steering process of the electric shovel based on DEM

Cited by 8 publications

References 47 publications

Discrete element parameter calibration and wear characteristics analysis of soil-rotary tillage blade in gneiss mountainous area

Discrete element parameter calibration and wear characteristics analysis of soil-rotary tillage blade in gneiss mountainous area

Control of Pivot Steering for Bilateral Independent Electrically Driven Tracked Vehicles Based on GWO-PID

Research on the Model Predictive Trajectory Tracking Control of Unmanned Ground Tracked Vehicles

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