Abstract
This paper suggests an IoT device utilization for skid suppression for work vehicles in the framework of Hybrid Twin and the performances of IoT utilization are experimentally evaluated. In the autonomous driving of work vehicles, stuck state or lock state should be avoided because it is very difficult to escape from these states autonomously. First of all, a state transition diagram consisting of grip, skid, stuck and lock states is configured and a skid ratio is newly defined to measure the degree of skid. Then, a three-stage skid suppression method is suggested based on skid ratio and a controlling system is implemented by using MATLAB/Simulink. Using an actual snow blower, an IoT device with some filtering processes is incorporated and the three-stage skid suppression method is applied. The experimental results show that the suggested approach is feasible but not a three-stage but a two-stage skid suppression method is likely to be efficient because of insufficient noise reduction. As future work, the noise reduction should be improved and the skid suppression method should be implemented in a Hybrid Twin approach.
Highlights
These days, such work vehicles as maintenance vehicles, bulldozers, grass cutters, and snow blowers are gradually being motorized
This paper suggests the utilization of acceleration sensor for detecting the skid state as an IoT
From 0 to around 14 seconds when the snow blower is holding, the signal measured by acceleration sensor is not 0 while the signal obtained by dedicated wheel remains 0
Summary
These days, such work vehicles as maintenance vehicles, bulldozers, grass cutters, and snow blowers are gradually being motorized. As an example of snow blower, when it remains in a skid state, the snow under the crawler is dug out and the bottom of body touches the snow surface and as a result, the snow blower cannot move any more Based on the skid ratio, a three-stage skid suppression method is suggested to carefully get the work vehicle back to grip state from skid state so as not to go into stuck or lock state. Three kinds of filters for obtaining skid ratio from actual acceleration sensor signal are shown and two-stage skid suppression method is suggested.
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