심해저 연약지반용 무한궤도차량의 견인력-슬립 관계에 관한 실험적 연구

Abstract

It is an easy and realistic method that the track slips are detected by measuring the ground speed and the rotation speeds of tracks. It is very advantageous if the slips can be measured and applied to real time control of the vehicle. The tractive force driving tracked vehicle with a proper speed may be calculated from the vehicle dynamics. For the control of tracked vehicle, the relationship between the slip and the tractive force must be needed. In this paper, a series of drawbar-pull tests, in which slips of two tracks are measured under the variational draw-bar weight, is executed to directly obtain the slip-tractive force relationship. For the purpose of the test, a tractive vehicle model was manufactured and an artificial soil is simulated by using of bentonite-water mixture. From the experiment results, the relationship equation between tractive force and track slip is induced.