주행하는 궤도차량의 속도 및 토오크 계측을 통한 슬립-견인력 관계 추정에 관한 연구

Abstract

This paper proposes the practical method to obtain the relationship between slip and tractive force. In the real field such as coast or ocean, to execute the draw bar pull test is limited and the measuring of soil characteristic parameter is very difficult work. On driving tracked vehicle in real field, the characteristic parameters can be immediately obtained is very efficient. To achieve the immediate parameter estimation, the three type motions, that is, constant velocity motion, turning motion, acceleration motion are proposed. From the constant velocity motion, the function of the soil friction to velocity is obtained. In the turning motion, the relation between slip and driving force is calculated. The acceleration motion obtains the changing rate between the net tractive force and driving force for tracked vehicle. From results obtained three motion, the relationship between tractive force and slip is calculated. Finally, the effectiveness of the proposed method is proved through comparing with estimated and measured results.