Analysis of the track system in bumpy unstructured hard road environment by vibration test

Mutong Li, Junlue Li, Lin He, Jie He, Lian Hu, Chengxu Lyu

Abstract


The complex terrain environment in the hilly land directly affects the operational reliability of agricultural robots. In order to study the impact of road irregularity on walking chassis vibration, the 3SYLZ-750 remote-controlled weeding machine which is applied to orchards was taken as the object of study, and the rear roller was selected as the object of observation to reveal the rules under which the vibration of the track chassis changes as there is a sudden change in road surface elevation. A column-type test-to-pass method based on unit excitation was proposed in this study. The excitation behavior and action process were analyzed by category. A critical acceleration prediction model was built and verified by virtual simulation and hard road surface excitation testing. The results showed that at the forward velocity of 0-2.5 km/h and exciter height of 20-100 mm, the vertical vibration acceleration of the target roller was significantly affected by Track Contact Point Centrifugal Acceleration (TCPCA). As TCPCA increased, the change rate of vertical vibration acceleration decreased, reaching a minimum of [−13.8, 28.8]; as TCPCA decreased, the vertical vibration acceleration tended to increase positively at a maximum variation range of [−13.3, 42.2]. The measured and simulated macroscopic change rules were consistent with the theoretical analysis, further verifying the correctness of variable extraction, and providing a research basis for the accurate modification and improvement of the model. The research conclusions can lay a theoretical foundation for analyzing the walking reliability of the track chassis, and provide a design basis and technical support for the development of a tracked agricultural robot chassis for the hilly land in the future.
Keywords: track system, unstructured road, vibration test, simulation analysis, hilly land, agricultural robot
DOI: 10.25165/j.ijabe.20221504.7249

Citation: Li M T, Li J L, He L, He J, Hu L, Lyu C X. Analysis of the track system in bumpy unstructured hard road environment by vibration test. Int J Agric & Biol Eng, 2022; 15(4): 163–171.

Keywords


track system, unstructured road, vibration test, simulation analysis, hilly land, agricultural robot

Full Text:

PDF

References


Li M T, He L, Zhang X, Wu W B. Review of moving reliability analysis methods for agricultural robots in hilly and mountainous areas. International Agricultural Engineering Journal, 2021; 30(1): 1–13. (in Chinese)

Wang W W, Chen L Q, Yang Y, Liu L C. Development and prospect of agricultural machinery chassis technology. Transactions of the CSAM,

; 52(8): 1–15. (in Chinese)

Wei K F. Research on steering resistance of tracked vehicle on soft ground based on DEM-MBD simulation. PhD dissertation. Changchun: Jilin University, 2020; 75p. (in Chinese)

Ding Z, Li Y M, Ren L D, Tang Z. Distribution uniformity of soil stress under compaction of tracked undercarriage. Transactions of the CSAE, 2020; 36(9): 52–58. (in Chinese)

Keller T, Arvidsson J. A model for prediction of vertical stress distribution near the soil surface below rubber-tracked undercarriage systems fitted on agricultural vehicles. Soil and Tillage Research, 2016; 155: 116–123.

Chi Y, Zhang R R, Ren J, Li H H, Wang Y. Steering power ratio affected by soil sinkage with differential steering in tracked vehicle. Transactions of the CSAE, 2016; 32(17): 62–68. (in Chinese)

Zhu X G, Gu L. Research on envelope characteristics of the track on ground. Transactions of Beijing Institute of Technology, 2016; 36(1): 48–52. (in Chinese)

Jiang H B, Li X L, Wang G Y. Filtering effect of track on road excitation. Vehicle & Power Technology, 2014; 2: 20–23. (in Chinese)

Mudarisov S, Gainullin I, Gabitov I, Hasanov E, Farhutdinov I. Soil compaction management: reduce soil compaction using a chain-track tractor. Journal of Terramechanics, 2020; 89: 1–12.

Bekker M G. Theory of land locomotion: Mechanics of vehicle mobility. The University of Michigan Press, 1956; pp.199–222.

Bekker M. G. Off the road locomotion. The University of Michigan Press, 1960, 7–94.

Bekker M G. Introduction to terrain-vehicle systems. The University of Michigan Press, 1969; pp.58–62.

Tian F. Body vibration and dynamic response analysis of tracked vehicles. Master dissertation. Shenyang: Shenyang Institute of Technology, 2013; 66p. (in Chinese)

Zhu X G. Coupling dynamic characteristic research for rollers-track-terrain system of high-speed tracked vehicles. PhD dissertation. Beijing: Beijing Institute of Technology, 2015; 146p. (in Chinese)

Yao Y. Research on the trafficability of low-speed tracked vehicle based on track-soil coupling system. PhD dissertation. Changchun: Jilin

University, 2016; 113p. (in Chinese)

Nishiyama K, Nakashima H, Shimizu H, Miyasaka J, Ohdoi K. 2D FE-DEM analysis of contact stress and tractive performance of a tire driven on dry sand. Journal of Terramechanics, 2017; 74: 25–33.

Nishiyama K, Nakashima H, Yoshida T, Shimizu H, Miyasaka J, Ohdoi K. FE-DEM with Interchangeable modeling for off-road tire traction analysis. Journal of Terramechanics, 2018; 78: 15–25.

Nakata T, Sogabe Y, Araki T. Vibration property of a rubber track system when traveling over bumps. Engineering in Agriculture Environment & Food, 2010; 3(2): 47–53.

Sundaram J, Varadarajan B, Keppanan M. Dynamic behaviour of a trailing arm suspension unit of a tracked vehicle with flexible and rigid elements. International Journal of Heavy Vehicle Systems, 2017; 24(4): 345. doi: 10.1504/IJHVS.2017.10007645.

Xu L Z, Chai X Y, Gao Z P, Li Y M, Wang Y D. Experimental study on driver seat vibration characteristics of tracked combine harvester. Int J Agric & Biol Eng, 2019; 12(2): 90–97.

ISO 2631-1. Mechanical vibration and shock. Geneva, Switzerland: ISO. 1997.

GB/T 10910. Agricultural wheeled tractor and field operation mechanical driver whole body vibration measurement. Standards Press of China, 2004.

GB/T 13876. Agricultural wheeled tractor driver whole body vibration evaluation index. Standards Press of China, 2007.

Kuhner K. Motor vehicle and terrain. VDI1, 1935; pp.153–159.

Zhang K J. Vehicle-terramechanics. National Defense Industry Press, 2001; 350p. (in Chinese)

Xu Z M, Ma K, Wang X G; Yang Z D, Huang Y. Research on vibration evaluation of engine. Journal of Machine Design, 2014; 31(3): 90–94. (in Chinese)

Du Xiumei. Research on robust control of magnetorheological suspension based on all terrain vehicle. PhD dissertation. Chongqing University, 2020; 196p. (in Chinese)

Li M T, He L, Zhang X, Chen H. Research on dynamic modeling method and moving vibration test analysis of flexible track system based on multi body element combination method. Modern Agricultural Equipment, 2021; 42(3): 27–34. (in Chinese)




Copyright (c) 2022 International Journal of Agricultural and Biological Engineering

Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.

2023-2026 Copyright IJABE Editing and Publishing Office