Model of uncontrolled displacement on the example of road construction machines
https://doi.org/10.26518/2071-7296-2021-18-6-678-687
Abstract
Introduction. External forces from the working implements of tractor units or road construction machines often lead to uncontrollable displacement from a given trajectory. This movement is the sum of controlled movement and uncontrolled displacement (start of moving). The lack of adequate models of displacement (start of movement) is the reason for the insufficient study of uncontrolled movement at the present time. The goal is to build a model of uncontrolled displacement under the action of an external force, which allows obtaining the maximum value of the external force, depending on its direction.
Materials and methods. The mathematical model of limiting equilibrium is built on the example of a bulldozer unit with a skewed blade. The force factors of the interaction of the mover with the soil included in the model were formed on the basis of the mathematical theory of friction. The model was improved by introducing different coefficients of adhesion in the longitudinal and transverse directions. This made it possible to take into account the anisotropy of the interaction of the propeller with the ground.
Results. The hodograph of the limiting shift force was constructed as a result of a numerical experiment. His analysis showed that the shift force is equal to the adhesion limit only in the case of translational shear. In all other cases (instantaneous rotational shear) the value of the ultimate shift force is less than the adhesion limit. Anisotropy further reduces the value of the limiting external shear force and rotates the hodograph towards the lowest friction coefficient.
Conclusion. The hodograph allows calculating the value of the limiting shear force and assessing the possibility of an uncontrolled deviation of the machine from a given trajectory. The resulting model will subsequently be used to build a control system for the operation of an unmanned vehicle, taking into account the external influence from the working tools.
About the Authors
I. P. TroyanovskayaRussian Federation
Irina P. Troyanovskaya, Dr. of Sci., Professor, the Wheeled and Tracked Vehicles Department
Cheliabinsk
A. O. Zhakov
Russian Federation
Andrey O. Zhakov, Postgraduate student, the Wheeled and Tracked Vehicles Department
Cheliabinsk
References
1. Merdanov Sh.M., Zakirzakov G.G., Konev V.V., Polovnikov E.V., Krasikov A.A. Opredeleniye pokazateley ekspluatatsionnykh svoystv sovremennykh stroitel’no-dorozhnykh mashin [Definition of indicators performance characteristics of modern building and road machines] Basic research. 2016. 12(2): 312-317. (in Russian)
2. Kozbagarov R.A., Таran M.V., Zhussupov K.A., Kanazhanov A.E., Kamzanov N.S., Kochetkov A.V. Increasing the efficiency of motor graders work on the basis of working elements perfection. News of the National Academy of Sciences of the Republic of Kazakhstan, Series of Geology and Technical Sciences. 2021. 1(445): 98-105. doi:10.32014/2021.2518-170X.14
3. Shevchenko V., Chaplyhina O., Pimonov I., Reznikov O., Ponikarovska S. Mathematical model of a motor-grader movement in the process of performing working operations // IOP Conference Series: Materials Science and Engineering. 2020. 985(1): 012009. doi:10.1088/1757-899X/985/1/012009
4. Balovnev V.I., Danilov R.G. Snegopogruzchiki [Snow loaders] Construction and road machines. 2020. 1: 3-9. (in Russian)
5. Zonta T., Selvanathan J., Patel J., Wilson K. Kaura H., Berry C, Tayefeh M., Barari A. Autonomous snowblower utilizing internet of things for minimal power consumption. In 14th IEEE International Conference on Industry Applications (INDUSCON 2021 – Proceedings). 2021: 686-69. doi:10.1109/INDUSCON51756.2021.9529823
6. Savelyev A.G., Mikhaylovskaya V.A. Maximum possible loads acting on the blade bulldozer under the assumed settlement provisions. [Maksimal’no vozmozhnyye nagruzki, deystvuyushchiye na otval bul’dozera pri prinyatykh raschetnykh polozheniyakh] Wheeled and tracked vehicle technology. 2019. 5(13): 41. (in Russian)
7. Kaukarov A., Kokodeeva N., Kochetkov A., Yankovsky L., Chelpano I. Capture of Large Objects by the Earthmoving Machine’s Implement During Operation on Motor and Toting Roads. Advances in Intelligent Systems and Computing. 2020. 1116 AISC, pp. 285- 295. doi:10.1007/978-3-030-37919-3_28
8. Du J., Zhou H., Jin X. Vehicle motion simulation method in urban traffic scene. Lecture notes in computer science (including subseries lecture notes in artificial intelligence and lecture notes in bioinformatics). 2020. 12341 LNCS: 312-321. doi:10.1007/978-3-030-60816-3_34
9. Kotiev G., Padalkin B., Miroshnichenko A., Stadukhin A., Kositsyn B. A Theoretical study on the high-speed electric tracked vehicle mobility. IOP Conference series: Materials science and engineering. 2019. 820(1): 012012. doi:10.1088/1757-899X/820/1/012012
10. Keller A., Aliukov S., Anchukov V. Studies of stability and control of movement of multipurpose vehicle. Lecture notes in engineering and computer science. 2017. 2230: 815-820.
11. Ignatov S.D., Portnova A.A. Sposoby resheniya problemy upravlyayemosti dorozhnykh mashin [Methods for solving the problem of control of road vehicles]. Materials of the international congress SibADI: Architecture. Building. Transport. Technologies. Innovations. 2013: 51-57. (in Russian)
12. Ermakov B.E. Bokovoy uvod dvukhzvennogo transportera pri yego dvizhenii po krivolineynoy trayektorii [Lateral withdrawal of the two-link transporter at its movement on curvilinear trajectory]. Mechanization of construction. 2012, 2(812): 27-31. (in Russian)
13. Sergeev N.V., Senkevich S.E., Chichil R.A. Heading stability of the unit. [Kursovaya ustoychivost’ agregata] Bulletin of the all-Russian scientific research institute of agricultural electrification. 2017. 1: 61-66. (in Russian)
14. Stroganov Yu.N., Lukashuk O.A., Akulova A.A. Movement stability of tractor unit. ACM International Conference Proceeding Series. 2018. Part F137690: 117-120. doi:10.1145/3191477.3191501
15. Andreeva E.V. Jeksperimental’nye issledovanija passivnogo povorota gusenichnoj mashiny pri stragivanii // Inzhenerno-tehnicheskoe obespechenie APK. Referativnyj zhurnal. 2005. 3: 613.
16. Troyanovskaya I.P., Zhakov A.O., Starunova I.N. Mathematical model of passive withdrawal of a tractor unit. IOP Conference series: Earth and environmental Science. 2021. 659(1): 012081. doi:10.1088/1755-1315/659/1/012081
17. Andreeva E.V. Eksperimental’nyye issledovaniya passivnogo povorota gusenichnoy mashiny pri stragivanii [Experimental studies of passive rotation caterpillar with breakaway]. Engineering and technical support of the agro-industrial complex. Abstract journal. 2005. 3: 613. (in Russian)
18. Kazachenko G.V., Basalai R.A., Troinich V.A. Uravneniya ravnovesiya pri uvode gusenichnoy mashiny i ikh issledovaniye [Equations of equilibrium at slipping a track machine and their study]. Mining mechanics and mechanical engineering. 2020. 1: 17-22. (in Russian)
19. Vyaznikov M.V. Using the theory of combined friction when making mathematical models of curvilinear motion of tracked vehicles. [Ispol’zovaniye teorii kombinirovannogo treniya pri sostavlenii matematicheskoy modeli krivolineynogo dvizheniya gusenichnykh mashin] Science and education of the Bauman MSTU. 2014. 12: 279-290. doi: 10.7463/0815.9328000 (in Russian)
20. Troyanovskaya I., Ulanov A., Zhakov A., Voinash S. Friction forces at the wheel’s contact with the ground in a turning vehicle, Tribology in industry. 2019. 41(2): 166-171. doi:10.24874/ti.2019.41.02.03
21. Zhakov A.O., Troyanovskaya I.P. The effect of anisotropy on the interaction of the caterpillar propeller with the soil during the vehicle turn. [Vliyaniye anizotropii na vzaimodeystviye gusenichnogo dvizhitelya s gruntom pri povorote mashiny] Tractors and agricultural machines. 2020. 2: 43-49. doi:10.31992/0321-4443-2020-2-43-49 (in Russian)
Review
For citations:
Troyanovskaya I.P., Zhakov A.O. Model of uncontrolled displacement on the example of road construction machines. The Russian Automobile and Highway Industry Journal. 2021;18(6):678-687. (In Russ.) https://doi.org/10.26518/2071-7296-2021-18-6-678-687