Wheel Rotation Research Articles

Research on the mechanism of particles separation in magnetorheological fluid-based finishing process

Magnetorheological fluid-based finishing is one of the recognized techniques for precisely finishing of a variety of components. Material removal depends largely on velocity and compression of the magnetorheological (MR) fluid ribbon when it interacts with the workpiece. This article studies the throwing of magnetic and abrasive particles during carrier wheel rotation. Theoretically computed centrifugal and magnetic forces are balanced against each other to determine the speed at which these particles are ejected from the MR fluid. The results of experiments at various carrier wheel speeds show the reduction of MR fluid ribbon thickness at higher wheel speed due to throwing of MR fluid. As a result of particle separation from the MR fluid at high rotational speed. As the carrier wheel speed increases, surface roughness decreases initially and then increases. There is good agreement between theoretical and actual results for the spindle speed at which magnetic particles depart the MR fluid ribbon.

Calculation of normal stiffness and contact patch of ultra-low pressure tires for agricultural machinery

BACKGROUND:The impact of tires on a deformable ground surface determines not only the ability of a vehicle to move, but also the pressure on ground through the contact patch geometric characteristics. The pressure on soil is normalized and limited by the conditions for the preservation of its agrophysical properties. Therefore, when creating vehicles for various purposes for their movement or movement of their trailers on deformable ground surfaces, it is required to calculate the pressure on ground in the design process. However, currently there are no universal dependencies for calculation of the mentioned parameters of ultra-low pressure tires. This applies to both vertical and inclined tire arrangement.
 AIMS:Development and implementation of universal methods for calculation of normal stiffness and con-tact patch parameters of ultra-low-pressure tires for agricultural machinery.
 MATERIALS AND METHODS:Software products such as MS Excel, MATLAB and Curve Expert Professional were used in modeling.
 RESULTS:The universal analytical-experimental dependence has been obtained to determine the normal stiff-ness of ultra-low pressure tires, including a possible inclination of the wheel rotation axis. The dependence takes into account tire pressure, normal wheel load, an inclination angle of the rotation axis and tire geometric characteristics. The formula is obtained for determining the contact patch contour area of an ultra-low pressure tire. It helps to calculate the current pressure on ground, which should not exceed the specified value.
 CONCLUSIONS:The method for calculation of normal stiffness and contact patch parameters such as contact length, contour area and contact pressure for ultra-low pressure tires has been developed and implemented. The method is universal for all ultra-low pressure tires.

Numerical investigation on dynamic behaviour of critical zones in railway tracks under moving train loads

The critical zones along a railway line, such as bridge approaches, are areas of serious concern for infrastructure managers owing to their high susceptibility to accelerated track geometry degradation. To improve their performance, a comprehensive evaluation of their response under realistic train-induced loads is paramount. With this objective, the dynamic behaviour of a standard track-bridge transition under moving loads (involving wheel translation and rotation) is investigated through finite-element (FE) analyses. First, a three-dimensional (3D) FE model of a bridge approach is developed and validated against published field data. The validated model is employed to gain insights into the phenomena such as unsupported sleeper formation and principal stress rotation in track substructure elements. The adequacy of 3D cellular geoinclusions in improving the performance of critical zones is also assessed. The results reveal that train parameters (axle load, speed, wheel translation and rotation) significantly influence the stresses, displacements, and sleeper-ballast gap size. The presence of a weak subgrade near the bridge exacerbates the differential movement problem and increases the sleeper-ballast gap size. The findings from this study significantly contribute towards an improved understanding of the response of critical zones, especially the spatiotemporal stress variations, unsupported sleeper formation and influence of geoinclusion reinforcement.

Improved Deep Reinforcement Learning Decision for Integrated Control of Distributed Drive Electric Vehicle Dynamics

To solve the problem of nonlinear coupling with longitudinal and lateral tire forces in the integrated control of distributed driving electric vehicles, an improved SAC reinforcement learning algorithm is proposed to coordinate the control method of active front steering (AFS) and torque distribution. The coordinated control adopts a layered structure, and the upper layer adopts the LQR controller to determine the additional front wheel rotation angle and yaw moment required for stability control. The three-level reward function is designed with the goal of vehicle stability and state tracking and is determined by the reinforcement learning algorithm. For the weight factors of the two optimization objectives, the SAC reinforcement learning algorithm is used to coordinate the decision-making of the active front wheel steering and the additional yaw moment; the lower controller uses the comprehensive utilization rate of the tire as the objective function to perform the optimal torque distribution. A co-simulation platform is established in MATLAB/Simulink and CarSim software. The results show that compared with AFS control, SAC coordinated control can not only ensure the stability of the vehicle and achieve accurate tracking of the reference state but also effectively reduces the comprehensive utilization rate of tires and the effectiveness of coordinated control.

Lateral Force Evaluation in Vehicle’s Wheel Interaction with a Rut

The operation of roads under modern conditions associated with high speeds and traffic density results in wear of pavement and formation of a rut. When crossing the ruts, instability can occur when relatively small steering inputs lead to large changes in the trajectory. The lateral force acting on a wheel of a car is of particular importance in the study of stability and controllability. The magnitude of this force is determined by various factors: tire stiffness, speed, change in the angle of rotation of the wheel, the geometry of the transverse profile of the rut.The objective of the study refers to the problem of determining the angles of inclination of side walls of the rut that are safe for movement at different speeds. The paper considers the interaction of a car wheel with the road surface, proposes a mathematical model for interaction of a tire with ruts, considers the angle of the wheel running on the rut wall. To describe the elastic response of a tire in contact with a rut, an elastic foundation model and a plane section method are used. The lateral force was estimated based on equations of motion of the wheel when crossing the rut. The dependences of the ratio of the lateral force to the normal load for various rut depths and angles of inclination of its walls on the angle of rotation of the wheel and the speed of the vehicle were obtained. It is shown that at a rut inclination angle exceeding five degrees, the lateral force begins to increase significantly with an increase in the angle of rotation of the wheel, as well as the speed of the vehicle, and may exceed the applied normal load. According to the condition of vehicle stability against skidding on a wet surface, limiting average angles of inclination of the side walls of the rut are estimated for various values of the vehicle speed and wheel rotation angles.

Agricultural Autonomous Robotic Platform Motion Control

A model of the movement of a robotic platform adapted to the conditions of an industrial orchard is proposed. (Research purpose) Development of a motion control system for an autonomous robotic wheeled platform based on inertial and satellite navigation and traversed path calculation, which will allow it to move in an apple orchard and automatically perform various technological operations, such as fertilization, growth diseases control of, fruit harvesting. (Materials and methods) A mathematical model was developed to control the movement of a robotic platform, taking into account the turning radii of three types, the length of the arc of the performed circle, the speed of movement in the garden plantation rows using a garden electronic map. The method used allows implementing a program for the robotic platform automatic movement around a typical orchard using a minimum set of sensors, significantly reducing the load on the onboard computer processor and memory. Software, developed in the Python programming language, enables plotting the robotic platform route, displaying the movement trajectory, and indicating the positioning accuracy at each point in relation to the trees in the garden plantation rows, the movement speed and the wheel rotation angle. (Results and discussion) The robotic platform managed to autonomously pass the preset routes, while the interaction of the software and the robotic platform hardware was provided. A field testing of the developed software was performed. (Conclusions) The specified accuracy of the robotic platform positioning was confirmed for the 3.5-meter aisles of intensive orchards. The maximum deviation from the task map using satellite and inertial navigation system was 164 millimeters, which complies with the agrotechnical requirements for mechanized fruit harvesting.

Time-Domain Electromagnetic Characterization of Reaction Wheel for Space Applications

The electromagnetic characterization of reaction wheels is crucial to comply with the demanding ac magnetic field cleanliness requirements of space science missions, thus, preventing interference on sensitive onboard instrumentation. Therefore, a complete assessment, including the measurement of the magnetic flux vector at different operational modes and under dynamic conditions, is proposed as a contribution beyond conventional testing methodologies. This article investigates the worst-case magnetic field emissions experimentally, using a test setup based on a multichannel acquisition and multidomain postprocessing system. The focus of the measurement campaign was on the low-frequency range (10 Hz–2 kHz). Moreover, capturing the B-field in the time-domain enabled further analysis, that is, complementary outputs for understanding the electromagnetic performance of the reaction wheel. As a result, we can relate the wheel rotation with the current and the magnetic fields, compute the field orientation, and evaluate in-band interference for the magnetic field.

Investigation of Aerodynamic Characteristics of a Two-Bladed Sailing Wind Turbine

The article examines a prototype of a wind turbine with two blades. For experimental work, a mock-up of a sailing wind turbine consisting of two blades was developed. The material of the sail blades was selected according to elasticity and lightness, cheapness, roughness of the streamlined surfaces. The study shows the aerodynamic parameters acting on the blade. The air flow velocity varied from 3 to 12 m/s. The dependence of the lifting force and the frontal barrier on the air flow velocity was obtained by turning the blades of the wind turbine so that the angle of attack was α = 00; 150; 300; 450 и 600. It is established that when the position of the blade’s changes, the lifting force and the drag force decrease. With an increase in the angle of attack α > 00 leads to a decrease in the midsection of the wind wheel with respect to the air flow. On this basis, there is a decrease in aerodynamic forces. As the speed of the air treacle increases, the speed of rotation of the wind wheel also increases. However, during the experiment it was found that the location of the blades at different angles affects the numerical value of the rotational speed. According to the conducted experiments, several values were obtained. The analysis of the obtained values is carried out. A graph is constructed based on the dependence of the wind wheel rotation frequency on the wind speed with a change in the angle of attack. A wind turbine with blades with a variable angle of attack, which, turning, gradually become more parallel to the direction of the wind. Centrifugal forces regulate the inclination of the blades, and as a result, the speed of rotation of the wind wheel, and keep the wind generator at the nominal speed of rotation.

Advanced manufacturing concept of a bio-inspired reaction wheel rotor for small- and medium-sized constellation satellites

The increasing number of constellation satellites requires re-thinking of the design and manufacturing process for reaction wheel rotors. Mass optimisation of reaction wheel rotors leads to cost reduction and performance increase. Those optimisations can be realised by taking ideas from nature. Therefore, design principles of diatoms were screened, abstracted and implemented in an algorithm-based design process. In this way, a bio-inspired rotor was created, which considers launch and in-operation loads, is capable of up to 7500 RPM and shows a compact design with a diameter of 282,text {mm}. Regarding mechanical performance, an energy density of 4661,text {J kg}^{-1} and a mass moment of inertia ratio of 0.7584, which considers the component and an idealized design, could be achieved. Compared to a commercial rotor, this is equivalent to a similar inertia ratio and +85 % energy density, but +44 % mass due to manufacturing restrictions. Based on different boundary conditions, different first natural frequency for launch and operation conditions were obtained (658,text {Hz} and 210,text {Hz}). The new design was cast from nano-reinforced aluminium alloy (AlSi10Mg + Al2O3) in 3D-printed sand moulds that were produced via binder-jetting process. Thus, a hybrid manufacturing process was used, by combining additive manufacturing and casting. Post-processing of the cast part via turning and milling was performed to compensate distortion and achieve the required surface quality. Preliminary vibration measurements were performed, showing a large need for balancing to achieve low vibration emissions.

Robust stabilization control of live working robot under wind load based on angular momentum conservation principle

In respond to the problem that the live working robot is easy to be affected by wind load in the process of field high altitude operation, which result in robot body rolling with poor stability and low operation efficiency, a robot momentum wheel balance control method under wind load action based on the principle of angular momentum conservation has been proposed in this paper. The moment generated by the rotation of the momentum wheel is used to offset the wind load moment so as to realize the robot online balance control. Through the analysis of the influence mechanism for the live working robot on the wind load, the coupling relationship model of three kinds typical parameters namely, wind force, robot rolling angle, and momentum wheel drive moment have been established. Based on the virtual prototype size of the live working robot, the physical model of the momentum wheel device is established and the dynamic model of robot balance system under the wind load is established by Lagrange method. Finally, the disturbance environment of the robot under the wind load action in ADAMS and MATLAB-SIMULINK software, a fuzzy PID controller has been adopt to control the robot online in real time wind load. Compared with computational torque control and gravity compensation control, the simulation result show that the momentum wheel balance can reduce the rolling angle under the wind load and keep the robot in a balance posture with strong robustness. The research of this paper has important theoretical significance and practical application value for promoting the practical application of robot in actual wind load operation environment.

Mechanism Analysis and Control of Lateral Instability of 4WID Vehicle Based on Phase Plane Analysis Considering Front Wheel Angle

The current vehicle stability judgment methods in the stability control of distributed drive electric vehicles focuses on using the phase plane method, but the existing phase plane stability boundary delineation methods ignore the influence of the front wheel rotation angle. Therefore, a new phase plane partitioning method (NPPPM) is proposed in this paper, and a new phase plane stability domain library is established. Based on this, the direct yaw moment control of distributed drive electric vehicle through phase plane analysis is established. Firstly, the influence of the front wheel turning angle on the phase plane is considered in the design of the phase plane stability boundary, and a new stability boundary function is fitted by the least squares method. This approach avoids the lateral instability caused by too large a front-wheel turning angle and improves the accuracy of vehicle stability judgment. Next, a hierarchical direct transverse moment controller is constructed using Matlab/Simulink. Among them, the upper layer controller adopts sliding mode control with the sideslip angle error of the center of mass as the tracking target. The lower controller adopts the optimal configuration algorithm with the optimal road adhesion utilization as the objective function. Finally, the effectiveness and superiority of the proposed phase plane partitioning method (NPPPM) for distributed drive electric vehicles with sinusoidal and angular order inputs for the front wheel rotation angle are verified by simulation.

Modeling of the material removal rate in internal cylindrical plunge electrochemical grinding

The material removal rate (MRR) in the internal cylindrical plunge electrochemical grinding (ICPECG) is hard to assess because it involves two feed motions: workpiece circumferential rotation and grinding wheel motion in the radial direction. This study attempts to model the MRR and electrochemical overcut in the stable grinding stage of ICPECG by using an equivalent plane electrochemical grinding model with a single feed motion. The differential equation of the interelectrode gap (IEG) in the machining area in the stable grinding stage of ICPECG is derived. Then, based on Faraday's electrolytic law, MRR models of electrochemical anode dissolution (EAD), abrasive mechanical grinding, and electrochemical overcut depth are established and numerically simulated by a variable replacement under different machining parameters. The numerical results indicate that the grinding wheel's radial feed rate most significantly influences the EAD share in the total MRR. In contrast, the power supply voltage mainly controls the electrochemical overcut depth. The proposed model's feasibility and revealed correlations are experimentally verified.

Dynamics of mobile robot equipped with inertial vibration exciter and unidirectionally rotating wheels

Vibration-driven locomotion principles are currently of significant interest among designers and researchers dealing with mobile robotics. Among a great variety of robots chasses, the wheeled ones are most commonly used. The major purpose of this study consists in defining the dynamic characteristics of the wheeled vibration-driven robot equipped with the centrifugal (inertial) vibration exciter (unbalanced rotor) and overrunning clutches ensuring the robot’s wheels rotation in one direction. The research methodology is divided into three basic stages: developing the robot’s dynamic diagram and deriving the motion equations followed by numerical modelling in the Mathematica software; designing the 3D-model and simulating the robot motion in the SolidWorks software; creating the experimental prototype and conducting the full-scale tests. The obtained results show the time dependencies of the robot’s body acceleration, speed, and displacement at certain operational conditions. The main scientific novelty of the paper resides in substantiating the relationships between the robot’s design parameters and its dynamic characteristics under different operational conditions. The performed investigations can be useful for researchers and designers dealing with the vibration-driven robots, capsule-type locomotion systems, pipelines inspecting vehicles, etc.

Optimizing regenerative braking on electric vehicles using a model-based algorithm in the antilock braking system

<span lang="EN-US">The regenerative braking effectiveness of electric vehicles (EVs), with <br /> 8-25% range, requires designers to produce better braking systems. The antilock braking system (ABS) was chosen because it offers various advantages, such as enhanced safety considerations, vehicle maneuverability, and so on. The measurement findings revealed that ABS took longer to stop the wheels with the same wheel rotation speed. Because of the lesser differentiation of magnetic flux to time, it created lower induced emf in the generator. ABS 50 Hz performance was 19.5% at 4500 pm, whereas hydraulic brake performance was 21% at the same speed. ABS used model-based algorithms (MBAs) to boost the friction frequency with the wheels from 10 to 50 Hz. As the frequency increased, the ABS graph approached the hydraulic graph, and the ABS performance improved. Although ABS loses to hydraulics in stopping wheel rotation, it gains in saved energy and battery temperature. Longer wheel stop-times allow the rotational kinetic energy of the wheel more time to be converted into electricity.</span>

Evaluation method of rowing performance and its optimization for UAV-based shot seeding device on rice sowing

In recent years, unmanned aerial vehicle (UAV) has been widely used in the agricultural production. Combined with the promotion of rice direct seeding technology, UAV rice seeding has become an important planting method. In order to quickly obtain the rowing performance on rice sowing, this study proposes an evaluation method based on image recognition technology. In the process of image recognition, a binary method of dynamic threshold based on mean filter difference (BD-MFD) was adopted, and obtained the position coordinates of the seeds. According to the evaluation method, the key structural parameters and operational parameters of the UAV-based shot seeding device are optimized. In the bench test, the size parameters of guide tube were optimized, and the best seeding effect was obtained when the length and diameter of the guide tube were 100 mm and 17 mm, respectively. Experiments were carried out on the seeding effect under different seed discharge rate levels, and the reasonable range of the seed metering wheel rotational speed was 16–24 rpm. In the field seeding test, the appropriate friction wheel rotation speed at different working heights was obtained. In the two-factor comprehensive test of flying speed and seed metering wheel rotational speed, when the flying speed was 1.0–2.0 m/s and the seed metering rotational wheel speed was 22–26 rpm, it has better seeding uniformity. In the five-row seeding experiment, the average width of seed row (Bd) ranged from 66.17 mm to 75.34 mm, and the C.V. (coefficient of variation) of seeding uniformity was between 18.44 % and 27.04 %. The study provided a new idea for UAV rice seeding, and optimized the structural parameters and operation parameters through experiments.

Tilting installation of wheels rotation planes and changes in operating properties of the vehicle

The purpose of the study is to determine the elastic properties of the tilted wheel and to identify their relationship with the operating properties of the vehicle. A study was made of influence of the wheel tilting installation on the change in its elastic properties at operation. It has been found that normal tire stiffness is reduced by up to 15 % at a maximum tilt angle of 3.50, limited by tire durability conditions. A scheme of the influence of the stiffness types of the tilting wheel on the vehicle operational properties has been developed. Keywords: elastic wheel, tilt of rotation plane, outer wheel tilt, inner wheel tilt, change in elastic properties, operating properties of the vehicle

Determination of dynamic and traction-energy indicators of all-wheel-drive traction-transport machine

The results of a study of dynamic and traction-energy indicators of an all-wheel drive wheeled traction-transport machine are presented. A diagram of a dynamic transmission model for an all-wheel drive wheeled traction and transport machine and a system of equations for the transmission dynamics in the Cauchy form have been compiled. This made it possible to determine the dependences of the angular speeds of rotation of the transmission elements of the traction-transport machine, the dependences of the torques and the dependences of the contacting traction forces on the wheels on time. The method allows to determine the optimal transmission parameters, differential designs and gear ratios to improve the traction and coupling and fuel-economic performance of the machine. It has been established that the angular speeds of rotation of the front wheels of the traction-transport machine 1.29 rad/s, 1.27 rad/s are higher than the angular speeds of rotation of the rear wheels 1.24 rad/s, 1.25 rad/s, which leads to the appearance of a kinematic discrepancies and additional energy losses. The torques of the front drive wheels are 6972 Nm, the rear drive wheels are 4622 Nm. The contacting traction forces on the front wheels of the machine are 5478 N after the end of the acceleration of the machine, on the rear wheels – 3473 N. Experimental studies were carried out on the example of an all-wheel drive wheeled tractor with an articulated frame to validate the method for assessing the dynamics of the traction-transport transmission. The difference between the values of the angular speeds of rotation of the wheels and the tangential traction forces on the wheels, determined theoretically and obtained during experimental studies, is 2 %. The developed method for assessing the transmission dynamics of an all-wheel drive traction and transport machine should be considered valid. The method proposed in the paper can be used to assess the dynamics of wheeled machines

СНИЖЕНИЕ УРОВНЯ НАГРЕВА ГЕНЕРАТОРА Г1000В ПРИ РЕВЕРСИВНОМ ПРИМЕНЕНИИ

Tractor domestic generator G1000V was chosen as a mobile power source for heating viscous protective materials during conservation of agricultural machines. Generator drive from tractor PTO with the reverse rotation of the shaft to the left negatively affects the ventilation and cooling of its body, and leads to a decrease in power. Studies of the thermal mode of operation of the generator under a load of 620 W showed that during normal (right) rotation of the fan wheel, the generator housing heats up by 10 °C. The wheel casing heats up to 60 °C during reverse (left) rotation, and the power is reduced by 4%. P The cooling efficiency of the generator with radial blades is practically the same as cooling with forward inclined blades in reverse application. Changes in the configuration and parameters of the impeller with radial blades are made in reverse application to improve the cooling of the G1000V generator housing. Cutting the wheel ribs by 1/3 of the height and the protrusions on the periphery of the flange with the blades bent by 20° to the left made it possible to reduce the generator heating temperature by 13°C. The backward bending of the ends of the radial blades at an angle of 40-45° to the radius of the wheel contributed to a decrease in the temperature of the generator housing by 18°C. The parameters of the rational configuration of the fan wheel for the G1000V generator were obtained as a result of the research. The use of such a wheel provided a 2.8-fold reduction in the thermal load on the generator during reverse use on a mounted conservation unit.

Development of a vortex wind device

The relevance of the research is related to the development of a new type of renewable energy source ‒ a vortex wind device with a vertical axis of rotation without wind guidance mechanisms. The main purpose of the study is to develop a vortex wind turbine using mathematical modeling of vortex motion and laboratory experiments on the model. The object of the study is a vortex wind device consisting of a concentrator with curved channels, inside which there is a wind wheel, and a vertical pipe mounted on the concentrator. The calculations are based on the method of modeling large vortices with the solution of averaged Navier-Stokes equations. As a result of the research, the velocity distribution in the concentrator, inside the structure and the discharge pipe were obtained. The computational experiment shows that the narrowing channels of the concentrator create a stable vortex motion inside the structure and the vertical pipe. The methods used for calculating turbulent flows allow to study aerodynamic processes in wind turbines with a vortex effect. The absence of a rotary mechanism reduces the risks of breakdowns of rotational elements due to their absence. The concentrator perceives the wind flow from any side and creates a vortex motion inside itself due to curved channels. The outlet openings of the curved channels are directed to the blades of the wind wheel, which increases the maximum transfer of wind flow energy to the blades of the wind wheel. The vortex motion inside the concentrator creates a steady rotation of the wind wheel. An additional important point is the removal of the exhaust air flow from the vortex wind device. Existing wind farms have wind guidance mechanisms, which complicates the design, a stable rotation mode of the wind wheel is not created. All these problems of operating stations can be solved with the help of a vortex wind device

Control Algorithm and Realization of Adaptive Two-Wheeled Robot

This system selects STC12C5A60S2 single chip microcomputer as the core processor to control the algorithm and balance state of the balance robot. The robot body is loaded with a gyroscope accelerometer sensor mpu6050 and a magnetoelectric encoder motor 330. The single chip microcomputer filters the data collected by the gyroscope and accelerometer, and processes the upper limit of the integral of the motor output value. Through the conditioning circuit, the sensor collects the horizontal offset angle of the robot body and the wheel rotation speed, and corrects the signal noise and zero offset, so as to complete the attitude monitoring. Using proportional integral differential algorithm, the positive feedback of speed loop and the negative feedback of angle loop are adjusted comprehensively to realize the robot body attitude correction. After debugging, the trolley can achieve self-regulation and balance without the severe impact of the external environment.