Wheel Slip Research Articles

Desempenho energético de trator agrícola articulado: Modo manual versus automático

ABSTRACT Automatic production management (APM) is a tool that assists in the operations of agricultural tractors, increasing yield and energy efficiency. The objective of the experiment was to compare the energy and operational performance of a 373-kW articulated tractor equipped with APM and manual mode of engine transmission and rotation, across different real-world speeds. The experiment was conducted in a randomized block design with five replicates, using a split-plot arrangement with two system modes (manual and automatic) in the plots and four real-world speeds (4, 6, 8, and 10 km h-1) in the subplots, totaling 40 experimental units. The evaluated variables were: wheel slippage; engine rotation; hourly and specific fuel consumptions; drawbar force, power, and yield; operating speed; and engine thermal efficiency. The variance of the data was analyzed using Tukey’s test for the first factor, and regression analysis for the second factor and interactions. The automatic mode showed lower engine rotation and wheel slippage without compromising the other variables. The use of this mode showed energy advantages at 4 and 6 km h-1 by resulting in less fuel consumption per hour. In addition, the manual mode presented higher thermal efficiency at lower speeds than the automatic mode, which showed a linear increase.

Theoretical Systematisation of Wheel Slip Control Methods Based on Excessive Torque and Angular Momentum

Theoretical Systematisation of Wheel Slip Control Methods Based on Excessive Torque and Angular Momentum

Mathematical model of the moment distribution algorithm along the axes of an electric vehicle with a two-motor type

BACKGROUND: The development of electric and hybrid vehicles is impossible without the creation of schemes in which torque is generated by electric motors independently on the front and rear axles or on each wheel and the best dynamics is achieved. The development of a function for distributing torque between the axles or wheels of a car is a relevant technical task.
 AIMS: Creation of a mathematical model for the torque distribution requested by the driver to the front and rear electric motors in order to assist the course stability system and counteract wheel slip when driving in a turn close to drifting/skidding or driving on surfaces with a low or variable grip coefficient.
 METHODS: The algorithm model was built in the MATLAB/Simulink environment, was tested in the model-in-the-loop mode on a simulation model developed in the Simcenter Amesim environment, was tested in the hardware-in-the-loop mode on the LabCar real-time machine (ETAS GmbH) and was tested in a vehicle.
 RESULTS: The function based on the abovementioned methods was built in MATLAB/Simulink. Testing in simulation mode on the simulation model developed in Simcenter Amesim was performed and the initial values of calibration parameters were determined. Implementation of the function into the software structure of the prototype and compilation of the executable C-code for the master file loaded into the control unit were completed. Testing of the function implemented into the control unit on the LabCar real-time test rig was carried out. After eliminating the shortcomings identified at the previous stages of testing, calibrations and tests of the function integrated into the vehicle were carried out, which showed the effectiveness of the described torque distribution model.
 CONCLUSIONS: The practical value of the study lies in the possibility of using the proposed control laws to develop systems for torque distribution between the axles or wheels of modern vehicles.

Fixed-time generalized super-twisting control for path tracking of autonomous agricultural vehicles considering wheel slipping

Efficient path tracking control for autonomous agricultural vehicles (AAVs) is the key technology for realizing agriculture 4.0 and precision agriculture, which makes smart farms more sustainable, profitable, and eco-friendly. It is well recognized that model nonlinearity, unknown disturbances, and wheel slipping are common problems in practical AAV systems in operation. To tackle these issues and improve the path tracking performance, a novel fixed-time generalized super-twisting control scheme is proposed for AAVs in this paper. First, a fixed-time integral sliding mode surface is designed for the considered vehicle by fusing the lateral offset and heading offset together. Then, an innovative auxiliary system dynamics is constructed to collaborate with the foregoing sliding mode surface, compensating for the adverse effects of wheel slipping effectively. Subsequently, based on the kinematic offset model of AAVs, a new type of generalized super-twisting controller is designed to achieve superior path tracking with robustness. Unlike existing super-twisting controllers, the generalized super-twisting continuous controller can fully eliminate chattering by replacing the previous discontinuous terms with a nonsmooth term. Further, rigorous theoretical analysis is conducted by raising a fresh Lyapunov function to verify the closed-loop control system stability. Finally, extensive field experiments have been carried out to show that the proposed control scheme significantly outperforms typical comparative control schemes.

Push-pull locomotion: Increasing travel velocity in loose regolith via induced wheel slip

Push–pull locomotion is an effective mobility mode for traversing loose lunar regolith and climbing sandy slopes. A rover with an active suspension can generate thrust from a set of anchored wheels by adjusting its wheelbase while driving the remaining wheels. This paper explores the relationship between the velocities of the rotational and translational suspension elements. Using a kinematic slip greater than 30%–40%, inchworming surpasses both the travel velocity and power efficiency of normal driving on slopes between 10°–20°. On a 20°slope, inchworming improves travel reduction from 98% to 85% and reduces normalized power consumption by a factor of eight. Experiments with NASA’s upcoming Volatiles Investigating Polar Exploration Rover show that increasing kinematic slip increases its travel velocity in a sink tank by 35%. Models using granular resistive force theory indicate that wheels driving at higher slip can generate greater tractive force and thus reduce the load on the anchored wheels. Otherwise, at lower driving slip, the load capacity of anchored wheels may be exceeded and result in oscillatory overall travel. These experiments suggest that there is further room to improve wheeled locomotion by intentionally inducing wheel slip, especially in articulated suspensions.

Bifurcation analysis of a wheel‐slip control loop under low wheel‐slip regulation considering time‐delay

AbstractSafety and efficiency are key aspects of research and development in the automotive industry, especially in the field of safety‐critical subsystems, such as brake systems. The effect of time delay arise in brake systems, this adverse effect can cause performance degradations or make the brake system unstable. In this study, the bifurcation analysis of a wheel slip control feedback loop is presented. The control system consists of a wheel and a tyre, delayed actuator dynamics, and an LQR (linear quadratic regulator) that is designed to operate under relatively low wheel slip, during service braking. As a result, it is shown, that if time delay is neglected, the steady‐state solution of the model is globally stable using the LQ optimal controller gains. However, considering nonzero time‐delay may cause a subcritical Hopf‐bifurcation, and an unstable limit‐cycle exists around the steady‐state solution in a large domain of time‐delay parameters. Critical bifurcation maps and simulation results with more detailed system models are generated and shown in the study.

Suppression of self-osculations of the drive wheels in braking mode

The article presents conclusions about the possibility of self-oscillation, the results of field tests of the KAMAZ 6282 large class electric bus, the theoretical foundations for constructing an algorithm for monitoring wheel slip in braking mode with the function of self-oscillation suppression, as well as the results of mathematical modeling of its functioning in Matlab Simulink. The practical value of the research lies in the possibility of using the proposed control algorithm to develop a traffic control system for transport vehicles. Keywords: self-oscillation, braking, sliding, tire, observer, oscillation amplitude, energy efficiency, ABS

PERFORMANCE EVALUATION OF SEED DRILL- FERTILIZER UNDER TWO DIFFERENT FARMING SYSTEMS AND TRACTOR PRACTICAL SPEEDS

This study was aim to investigate performance of seed drill - fertilizer (GIL-SAX multisem18) was evaluated under two different farming systems (till and no-till) and tractor speeds (5.28, 7.76 and 8.30 km.h-1). The characteristics were measured including draft force, wheel slip, seed delivery rate, and germination rate. The experiment was organized as a randomized complete block design (RCBD). The significant difference was examined using the least significant difference tests at a P≤0.05. The results showed a minimum draft force and wheel slip under the till system and tractor speed of 5.28 km.h-1 interaction. The lowest seed delivery rate was found when no-till was practiced with a speed of 5.28 km.h-1. Adopting the no-till system with the speed of 7.76 km.h-1 achieved the highest germination rate. The till system achieved the lowest fuel cost in economic analysis 8395 IQD. ha-1 at a speed of 8.30 km.h-1, while the no-till system achieved the lowest cost of seeds 65066 IQD. ha-1 and sowing operation cost 36079 IQD. ha-1 at speed 5.28 km.h-1. Irrigation and agronomy indicators should be addressed in the further work.

Effect of Land Ploughing Methods and Leveling Techniques on Wheat Production in the Upper Terraces of the Northern State - Sudan

Precision land leveling must be treated as a precursor technology for improving crop yield, enhancing input-use efficiency and ensuring long-term sustainability of the resources. A field experiment was conducted in Dongola Agricultural Research Farm, Northern State, for two successive seasons to investigate the effect of three type of ploughing; heavy disc harrow (H1), disc plough (H2) and no-ploughing (H3), and three land leveling techniques, Laser (L), Scraper (S) and traditional (T),on wheat production. The experiment was arranged in a strip split plot design and the treatments were replicated three times.
 The results indicated that effective field capacity, fuel consumption, and slippage were significantly affected by ploughing method. Laser land leveling recorded the highest fuel consumption (16.3 L/hr), and the lowest field efficiency (55%). while the heavy disc harrow recorded the highest effective field capacity (0.98 ha/hr), field efficiency (71.2%) and wheel slippage (8.1%). The soil moisture content (db %) was increased with time and depth. The highest mean soil moisture content was obtained with the laser land leveling and heavy disc harrow treatment at 75-100cm soil depth as 24.82%. The results revealed that the highest average grain yield (4.63 ton/ha) and infiltration rate (31cm/hr) were also recorded by the laser land leveling and heavy disc harrow. The treatments showed significant differences at the 5% level between the treatments for the parameters measured. Multiple regression analysis showed a highly significant effect (P≤ 0.001) of laser leveling with disc harrow ploughing on grain yield, compared to the other treatments used in the study (R2 = 0.40). The relation between the grain yield (Y) and the treatments: X1 ploughing, X2 leveling is summarized in the following equation: 
 Y = 2.875 + 0.552X1 + 0.254X2
 The study concluded that, although Laser leveling has increased the grain yield with high cost, yet it is not an expensive technique when the cost is distributed over the period of Laser leveling. The highest grain yield was obtained by the heavy disc harrow with laser land leveling.

A photoelastic method for stress analysis of granular terrain beneath a wheel

This paper presents a photoelastic method for the stress analyses of granular terrains beneath a traveling wheel. Recently, wheel terramechanics have been studied using various advanced techniques such as particle velocimetry and machine learning. However, the dynamic profiles of the stress distributions in soil have not been directly observed. In this paper, we propose a photoelastic method to experimentally demonstrate the two-dimensional stress analysis of a granular terrain. This method uses photoelastic disks as terrain particles; thus, the internal stress and propagation of the granular terrain can be visualized using the interference fringe of light. This study aimed to observe the dynamic behavior of grains, typically simulating circular or spherical objects of the granular terrain. To demonstrate the photoelastic method for simulated ground, we developed a single-wheel testbed using photoelastic materials. Moreover, the effects of mixing with non-photoelastic materials were investigated to simulate steady states with small and large wheel-slip conditions. This paper presents a force chain analysis of the photoelastic particles beneath a single traveling wheel. The force chain structure was geometrically compared with the propagation angle and length. In addition, the orientational orders of the force chains were quantitatively evaluated under both small and large wheel slip conditions. The experimental results confirmed that the photoelastic method can reveal dynamic changes in the internal stress structures of granular terrain beneath the wheel under various slip conditions.

Motion of a Four-Wheeled Omnidirectional Mobile Robot without Slipping and Detachment from the Surface

The article is devoted to the motion analysis of a highly maneuverable mobile robot with four omniwheels, taking into account the conditions for the appearance of wheel detachment from the surface, and the occurrence of wheel slipping. Within the motion analysis the task of determination support reactions for a mobile robot is considered. To solve this task, the design of a mobile robot is presented in the form of the frame with rods. To disclosure the static indeterminacy of the considered system the forces method is used. Dependences of support reactions from the position of the center mass are obtained. The feature of the considered system is that the obtained dependencies of the support reactions are nonlinear. Based on the obtained dependences of the support reactions, the influence of the position of the center of mass of a mobile robot with four wheels on the occurrence of detachment and slipping of wheels of a mobile robot was considered. Investigation was carried out within the framework of the dry friction model, according to which module of the friction force proportionally depends on the support reaction acting on the wheel from the side of the motion surface. Simulation was carried out, as a result of which the conditions for the position of the center of mass of a mobile robot were determined, in which wheels of a mobile robot do not detach from the motion surface, and there is no wheel slipping.

Slip ratio adaptive control for distributed drive electric vehicle based on wheel speed

Aiming at the problems of poor control effect and poor robustness for distributed drive electric vehicles driving on complex and changeable roads, this paper proposes a slip ratio adaptive control method based on wheel speed. Firstly, an optimal slip ratio estimator considering axle load transfer was developed by analyzing the single-wheel dynamics of the vehicle and based on the Burckhardt tire model. Secondly, a cubic polynomial function is used to fit and optimize the optimal slip ratio-peak adhesion coefficient curve, which effectively improves the accuracy of obtaining the optimal slip ratio. Then, a conditional integral sliding mode controller based on wheel speed is designed in order to enhance the transient characteristics of the sliding mode control, to avoid integral saturation, and to improve the control effect of the sliding ratio controller in the low speed start-up phase. Finally, three typical working conditions, namely single road, flat road, and slip road, were established for simulation and experimental validation. The results show that the method in this paper is able to estimate the optimal slip ratio of the road in real time, realize the wheel slip ratio adaptive control, and improve the dynamic performance and lateral stability of distributed drive electric vehicle.

A Fuzzy-Based Slip Resistive Controller for Front Wheel Drive Autonomous Electric Vehicle

The direction and eternal theme of the automotive industry’s sustainable development is protection of the environment, energy efficiency, and safety. Especially the traffic accidents, the world’s energy shortages and the increasingly deteriorating environment are particularly important today. Especially in current era, because of the dual pressures of energy and the environment, various forms of electric vehicles (EVs) are becoming the focus of global automotive industry. This paper presents a significant method of road recognition method. The key control is to have the option to precisely recognize the ideal slip rate and current street surface attachment coefficient to control the wheel slip. By utilizing the Burckhardt strategy, the slant change of the bend could sort out the ideal slip rate and pinnacle attachment coefficient of street surface distinguishing proof examination is generally utilized in steadiness control of EV. On road tests, the road conditions are very complicated. It is necessary to take identify methods with strong robustness. Therefore, it is an important method to use fuzzy technique with good robustness to recognize optimal slip rate (OSR). The fuzzy road recognition algorithm could identify the friction co- efficient and the OSR superiorly.

Evaluation test of tangential force coefficient under different types of fallen leaves

On railway lines in mountainous areas, wheel slip and wheel slide frequently occurr due to a decrease in adhesion coefficient caused by fallen leaves in wet conditions. One of the countermeasure is tree felling, and knowing which tree species significantly reduce the adhesion coefficient is helpful in determining the order of priority for felling. In this study, the tangential force coefficient, which is strongly correlated with the adhesion coefficient and the maximum tangential force coefficient is generally defined as the adhesion coefficient, was quantitatively assessed for fallen leaves of five tree species using a rolling-slip friction measurement machine. The experimental results showed that the tangential force coefficients in order of lowest to highest belong to ginkgo, cedar, cherry, maple, and zelkova in wet conditons. This experiment identified which tree species are more slippery and have a high priority for felling.

Design and Verification of Offline Robust Model Predictive Controller for Wheel Slip Control in ABS Brakes

Wheel slip control is a critical aspect of vehicle safety systems, notably the antilock braking system (ABS). Designing a robust controller for the ABS faces the challenge of accommodating its strong nonlinear behavior across varying road conditions and parameters. To ensure optimal performance during braking and prevent skidding or lock-up, the ideal wheel slip value can be determined from the peak of the tire–road friction curve and maintained throughout the braking process. Among various control approaches, model predictive control (MPC) demonstrates superior performance and robustness. However, online MPC implementation encounters significant computational burdens and real-time limitations, particularly when dealing with larger problem sizes. To address these issues, this study introduces an offline robust model predictive control (RMPC) methodology. The proposed approach is based on the robust asymptotically stable invariant ellipsoid methodology, which employs linear matrix inequalities (LMIs) to calculate a collection of invariant state feedback laws associated with a sequence of nested invariant stable ellipsoids. Simulation results indicate a significant reduction in computational burden with the offline RMPC approach compared to online implementation, while effectively tracking the desired wheel slip reference values and system constraints. Moreover, the offline RMPC design aligns well with the online MPC design and verifies its effectiveness in practice.

Research on a Hydraulic Cylinder Pressure Control Method for Efficient Traction Operation in Electro-Hydraulic Hitch System of Electric Tractors

The tractor is the primary power device of the agricultural production process. For the problem that the traditional electro-hydraulic hitch control method for tractors cannot simultaneously meet the requirements of maintaining a constant ploughing depth and improving traction performance and electric tractor overall efficiency, this paper proposes a hydraulic cylinder pressure control method of the electro-hydraulic hitch system for electric tractors. We establish a tractor-implement system dynamic model, calculate the rear axle load of the tractor in real-time according to the actual working parameters under the premise of ensuring the constant ploughing depth, construct a traction performance objective optimization function, and use the genetic algorithm to solve the optimal hydraulic cylinder pressure value of the electro-hydraulic hitch system. Hardware-in-the-loop (HIL) simulation results show that the electric tractor under the traditional position control method and the hydraulic cylinder pressure control method has an average wheel slip of 18.50% and 16.93%, an average traction efficiency of 71.35% and 73.08%, and an average overall efficiency of 50.81% and 52.40%. The hydraulic cylinder pressure control method proposed in this paper reduces the wheel slip by 9.27%, increases the traction efficiency by 2.42%, improves the electric tractor overall efficiency by 3.13%, and reduces the electric tractor overall energy loss by 7.67% compared with the traditional position-control method. Therefore, the hydraulic cylinder pressure control method of the electro-hydraulic hitch system proposed in this paper can achieve the purpose of effectively improving tractor traction performance and reducing tractor energy loss while maintaining a constant ploughing depth. This study offers technological references for electric tractors to improve traction performance and reduce the overall energy loss of electric tractors.

Determination of the dynamic characteristics of locomotive drive systems under re-adhesion conditions using wheel slip controller

Determination of the dynamic characteristics of locomotive drive systems under re-adhesion conditions using wheel slip controller

A Systematic Review of Emergency Braking Assistant System to Avoid Accidents Using Pulse Width Modulation and Fuzzy Logic Control Integrated with Antilock Braking

The increasing number of fatalities in nations across the world because of a deficiency of protective technology in automobiles has created a chaotic scene in recent years. However, the car driver’s Perception-Reaction Time (PRT) plays an important variable during such accidents and emergencies. The Anti-Lock Braking System (ABS) seems a viable technology, which today is used to prevent tires from sliding during quick brakes, whereas EBS is designed for braking assistance during tuning or emergency braking. Physical weight, rotational rigidity, diameter, and tire material strength of the vehicle are all used to simulate them. Advance Driver Assistance Systems (ADAS), which include Anti-lock brakes (ABS) and Emergency Braking Systems (EBS), are the foremost viable technique for minimizing the environmental impact and uncertainties of driving road transportation. The presented systematic review aims to deliver a ground-level analysis that can be used to enhance the safety of motor vehicle driving, reduce wheel slip to achieve the best possible stopping distance in commercial and specialized vehicles, and influence future transportation. In this study, the most widely utilized technologies for ADAS have been reviewed and discussed. Various sensors used to improve braking and vehicle performance have been systematically studied in the context of low power-consuming techniques like pulse width modulation. An analysis of emergency braking procedures performed by riders with varying degrees of braking expertise was conducted using previously collected experimental data, and the results were used to conclude potential loss of control situations.

Synthesis of an adaptive observer of the resistance torque at a shaft of a traction electric motor

BACKGROUND: Operating companies and consumers have demands to vehicles for efficiency improvement and cost cut. A part of substantial expenses is fuel cost, therefore use of vehicles with electric drive such as hybrid or pure electric (battery-electric) has potential for agriculture. It is mainly important for them to have the drivetrain characterized by high efficiency that increases autonomous mileage for one charge. To achieve this, it is necessary to control electric motors in the way to ensure maximal surface grip coefficient without wheel slipping. In this case, real-time defining of wheel resistance torque in necessary for efficient control. AIMS: Development of the theoretical basis and the law of optimal estimation of the resistance torque at a shaft of traction electric motor of transport vehicles for the sake of efficient control of traction electric drive. METHODS: Simulation of the law of optimal estimation of the resistance torque at a shaft of traction electric motor was carried out in the MATLAB/Simulink software package. RESULTS: The article provides with theoretical basis of formatting the law of optimal estimation of the resistance torque at a shaft of traction electric motor of transport vehicles for the sake of efficient control of traction electric drive, the law of optimal estimation of the resistance torque at a shaft of traction electric motor and the results of simulation of the law of optimal estimation of the resistance torque at a shaft of traction electric motor obtained in the MATLAB/Simulink. CONCLUSIONS: Practical value of the study lies in ability of using the proposed control laws for development of transport vehicles drivetrain control system.

COMPARATIVE STUDY OF DIFFERENT TYPES OF CONTROLLERS IN AN ANTI-LOCK BRAKING SYSTEM USING MATLAB/SIMULINK

Anti-lock Braking System is one of the vital safety features in modern cars and trucks that can prevent the wheels from locking while the brakes are applied in the moving vehicles. During a braking condition, speed sensors in ABS send signals to the Anti-lock Braking System control unit to estimate the wheel slip ratio, and if the ratio is different from the desired value, the control unit will send a message to the braking actuator to control braking torque. In this paper, the dynamics and subsystems of the Anti-lock Braking System are presented and a model of the Anti-lock Braking System is developed in MATLAB/SIMULINK software. Different types of controllers, including the Bang-Bang controller, proportional-integral, proportional derivative, and proportional integral derivative controllers, are integrated into the model to investigate the effects of controlling strategies on the stopping distance, vehicle velocity, slip ratio, and braking torque. The simulation results show that the proportional derivative and proportional integral derivative controllers provide the shortest stopping distances and stopping times as compared with Bang-Bang and proportional-integral controllers on different types of roads. Furthermore, it also observed that the slip ratio during braking is kept similar to the desired value (20%) with the proportional derivative and proportional integral derivative controllers while it fluctuates between 10% and 30% for BangBang and proportional-integral controllers. The trend of the braking torque is also similar to the slip ratio. The model can be used to predict the braking performance of the Anti-lock Braking System under different conditions.