• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.2
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• pp.1-12
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• 1997

A computer program was developed to simulate effect of the initial track tension on the tractive performance of tracked vehicles. The performance was evaluated in terms of drawbar pull, motion resistance, tractive coefficient and tractive efficiency. Results of the simulation showed that increase in track tension decreases the sinkage and mean maximum pressure in clay, making the ground pressure distribution more uniform. This tendency became more evident when the number of roadwheels increased. However, such change in MMPs was negligible in firm soils. Motion resistance was also decreased with increase in track tension and the number of roadwheels. Under weak soil conditions, tractive coefficient and efficiency increased generally as the track tension increased for a slip range of 10∼30%. For slippage less than 3∼4%, however, the tractive coefficient decreased with increase in track tension. In general, it was known that increasing track tension improves tractive performance in weak soil conditions. However, high track tension can reduce efficiency due to the increment of internal motion resistance caused by increased track tension.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.1196-1201
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• 1993

Test of Caterpillar Challenger 65 tractor which has rubber tracks, and articulated four wheel drive tractor with dual wheels and a mechanical front wheel drive tractor were conducted on an unplowed and plouwed wheat stubble field. The following parameters were analyzed : tractive efficiency (ηv), net tractive coefficient ($\phi$n), slip ($\sigma$) , drawbar pull(Fv), drawbar power (Pv) and forward velocity(v). The maximum net tractive coefficient was established at the tractive efficiency of 0.60 on the unplowed wheat stubble field : for the Challenger 65 tractor 0.855 ; 4WD 0.624 and MFWD 0.534 and on the plowed wheat stubble field with the tractive efficiency of 0.40 for the Challenger 65 tractor 0.82 : 4WD 0.57 and for tractor MFWD 0.48.

• Journal of Biosystems Engineering
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• v.17 no.3
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• pp.237-246
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• 1992

This study was conducted to investigate experimentally the effect of track tension on the tractive performance of rice combine. The experiment was carried out at the two in-door soil bins with soil types of loam and sandy loam. The initial track tension was varied by three different values of 0.71, 1.75 and 3.84kN at three different forward velocity settings of 0.17, 0.32 and 0.45m/s, respectively. The data acquisition system was designed and used for the measurement of pull, driving axle torque and its velocity under the test conditions to calculate the tractive efficiency. Results of the study were summarized as follows : 1) The effect of the initial track tension on the tractive efficiency was found being significantly dependent on soil types but not on forward velocities. Therefore, the benifit of adjusting the initial track tension may be obtained when the types of soils on which combines operate are changed. 2) In loam, tractive efficiency decreased with increase in track tension. However, it increased in sandy loam until it reached to a peak value and then decreased with increase in track tension. 3) The maximum tractive efficiency of the tested combine was obtained with an initial track tension of about 1.75kN on sandy loam, and below that on loam at about 5% slippage without being noticeably influenced by the forward velocity.

• Journal of Biosystems Engineering
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• v.10 no.2
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• pp.12-18
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• 1985

In order to investigate the effects of design parameters of lug on the tractive performance of pneumatic tires, soil bin tests were conducted for the test tires having different values of design parameters. The experimental results were presented in terms of lug space, lug angle and lug shape versus the tractive efficiency and rolling resistance of the test tires.

• Journal of Biosystems Engineering
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• v.37 no.3
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• pp.131-139
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• 2012

In this study, we developed a simulation program for the prediction of tractive performance of a tractor, by applying a widely used empirical model for tractive performance prediction of single tire, Brixius. The tractive performance prediction program can readily predict and estimate tractive performance according to various soil conditions and different specifications of tractors. The program was developed with the considerations of tractor's specification-related parameters (e.g., weight, tire size, and wheelbase of the tractor), a soil parameter (i.e., cone index which represents the soil strength), and operating conditions of the tractor (e.g., theoretical speed and driving types such as 2WD and 4WD). Also, the program was designed to provide tractive performance prediction results of tractors such as gross traction, motion resistance, net traction, and tractive efficiency, in the form of not only numerical values but also graphical visualization. To evaluate the feasibility of the program, we input three different soil conditions (which have different cone indexes each other) and tractor operating conditions to the program and analyzed the tractive performance from each input condition. From the analysis, it can be concluded that the developed program can be effectively utilized to predict the tractive performance under various soil conditions and driving types of tractors with different specifications.

• Journal of Biosystems Engineering
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• v.27 no.6
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• pp.491-500
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• 2002

This study was carried out to investigate experimentally the effect of the tire inflation pressure of a tractor on soil compaction and tractive performance. Two kinds of field experiments were conducted using an agricultural tractor. One experiment is concerned with the tractive performance of the tractor at the three levels of tire inflation pressure; 50kpa, 100kpa and 200kpa, and the other one is about the soil compaction at the four levels of tire inflation pressure; 50kpa, 100kpa, 150kpa and 200kpa, at three different numbers of passes; 1, 3 and 5 passes. From the results of the field experiment, it was found that decreasing the tire inflation pressure decreased the motion resistance of tractor and increased the tractive force and tractive efficiency. The tractive and working performance of the tractor could be improved by the reduction of tire inflation pressure. Increasing the inflation pressure and the number of passes increased the soil compaction. Rate of compaction increased rapidly at the first pass and declined at subsequent passes. To reduce the effect of soil compaction for the whole field, it is recommended that tractor should follow the rut of the first pass from the subsequent passes, and decrease the inflation pressure of the driving tires up to allowable minimum level.

• Journal of Biosystems Engineering
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• v.23 no.1
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• pp.1-12
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• 1998

This study was intended to investigate experimentally the effect of inflation pressure on tractive performance of bias-ply tires for agricultural tractors. Traction tests were conducted at the three velocities of 3, 4, and 5.5km/h under few different surface conditions using a 13.6-28 6PR bias-ply tire as driving wheel of the test tractor. When the inflation pressure was reduced from 250kPa to 40kPa by a decrement of either 30 or 50kPa depending upon the test surface conditions, some of the test results showed that the tractive coefficient and efficiency were increased maximally by 40% and 17％, respectively, at 20% slippage. However, it was failed to derive any consistent rules depicting the effect of inflation pressure of bias ply tires on the tractive performance of tractors.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.116-128
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• 2013

This paper focuses on development of a testbed for analysis of robot-terrain interaction on rough terrain and also, through one wheel driving experiments using this testbed, prediction of maximum velocity and acceleration of UGV. Firstly, from the review regarding previous researches for terrain modeling, the main variables for measurement are determined. A testbed is developed to measure main variables related to robot-terrain interaction. Experiments are performed on three kinds of rough terrains (grass, gravel, and sand) and traction-slip curves are obtained using the data of the drawbar pull and slip ratio. Traction-slip curves are used to predict driving performance of UGV on rough terrain. Maximum velocity and acceleration of UGVs are predicted by the simple kinematics and dynamics model of two kinds of 4-wheel mobile robots. And also, driving efficiency of UGVs is predicted to reduce energy consumption while traversing rough terrains.

• Journal of Biosystems Engineering
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• v.3 no.2
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• pp.35-61
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• 1978

To find out the power tiller's travel and tractive characteristics on the general slope land, the tractive p:nver transmitting system was divided into the internal an,~ external power transmission systems. The performance of power tiller's engine which is the initial unit of internal transmission system was tested. In addition, the mathematical model for the tractive force of driving wheel which is the initial unit of external transmission system, was derived by energy and force balance. An analytical solution of performed for tractive forces was determined by use of the model through the digital computer programme. To justify the reliability of the theoretical value, the draft force was measured by the strain gauge system on the general slope land and compared with theoretical values. The results of the analytical and experimental performance of power tiller on the field may be summarized as follows; (1) The mathematical equation of rolIing resistance was derived as $$Rh=\frac {W_z-AC \[1+ \frac{sl}{K} \(\varrho ^{-\frac{sl}{K}-1\)\] sin\theta_1}} {tan\phi \[1+ \frac{sl}{K} \(\varrho ^{-\frac{sl}{K}-1\)\]+\frac{tan\theta_1}{1}$$ and angle of rolling resistance as $$\theta _1 - tan^1\[ \frac {2T(AcrS_0 - T)+\sqrt (T-AcrS_0)^2(2T)^2-4(T^2-W_2^2r^2)\times (T-AcrS_0)^2 W_z^2r^2S_0^2tan^2\phi} {2(T^2-W_z^2r^2)S_0tan\phi}\] $$and the equation of frft force was derived as$$P=(AC+Rtan\phi)\[1+ \frac{sl}{K} \(\varrho ^{-\frac{sl}{K}-1\)\]cos\phi_1 \ulcorner \frac {W_z \ulcorner{AC\[ [1+ \frac{sl}{K} \(\varrho ^{-\frac{sl}{K}-1\)\]sin\phi_1 {tan\phi[1+ \frac{sl}{K} \(\varrho ^{-\frac{sl}{K}-1\]+ \frac {tan\phi_1} { 1} \ulcorner W_1sin\alpha $$The slip coefficient K in these equations was fitted to approximately 1. 5 on the level lands and 2 on the slope land. (2) The coefficient of rolling resistance Rn was increased with increasing slip percent 5 and did not influenced by the angle of slope land. The angle of rolling resistance Ol was increasing sinkage Z of driving wheel. The value of Ol was found to be within the limits of Ol =2\ulcorner "'16\ulcorner. (3) The vertical weight transfered to power tiller on general slope land can be estim ated by use of th~ derived equation: $$R_pz= \frac {\sum_{i=1}^{4}{W_i}} {l_T} { (l_T-l) cos\alpha cos\beta \ulcorner \bar(h) sin \alpha - W_1 cos\alpha cos\beta$$The vertical transfer weight $R_pz$ was decreased with increasing the angle of slope land. The ratio of weight difference of right and left driving wheel on slop eland,$\lambda= \frac { {W_L_Z} - {W_R_Z}} {W_Z} $, was increased from ,$\lambda$=0 to$\lambda$=0.4 with increasing the angle of side slope land ($\beta = 0^\circ~20^\circ) (4) In case of no draft resistance, the difference between the travelling velocities on the level and the slope land was very small to give 0.5m/sec, in which the travelling velocity on the general slope land was decreased in curvilinear trend as the draft load increased. The decreasing rate of travelling velocity by the increase of side slope angle was less than that by the increase of hill slope angle a, (5) Rate of side slip by the side slope angle was defined as $ S_r=\frac {S_s}{l_s} \times$ 100( %), and the rate of side slip of the low travelling velocity was larger than that of the high travelling velocity. (6) Draft forces of power tiller did not affect by the angular velocity of driving wheel, and maximum draft coefficient occurred at slip percent of S=60% and the maximum draft power efficiency occurred at slip percent of S=30%. The maximum draft coefficient occurred at slip percent of S=60% on the side slope land, and the draft coefficent was nearly constant regardless of the side slope angle on the hill slope land. The maximum draft coefficient occurred at slip perecent of S=65% and it was decreased with increasing hill slope angle $\alpha$. The maximum draft power efficiency occurred at S=30 % on the general slope land. Therefore, it would be reasonable to have the draft operation at slip percent of S=30% on the general slope land. (7) The portions of the power supplied by the engine of the power tiller which were used as the source of draft power were 46.7% on the concrete road, 26.7% on the level land, and 13~20%; on the general slope land ($\alpha = O~ 15^\circ ,\beta = 0 ~ 10^\circ$) , respectively. Therefore, it may be desirable to develope the new mechanism of the external pO'wer transmitting system for the general slope land to improved its performance.l slope land to improved its performance.

• Journal of Biosystems Engineering
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• v.3 no.2
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• pp.34-34
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• 1978

To find out the power tiller's travel and tractive characteristics on the general slope land, the tractive p:nver transmitting system was divided into the internal an,~ external power transmission systems. The performance of power tiller's engine which is the initial unit of internal transmission system was tested. In addition, the mathematical model for the tractive force of driving wheel which is the initial unit of external transmission system, was derived by energy and force balance. An analytical solution of performed for tractive forces was determined by use of the model through the digital computer programme. To justify the reliability of the theoretical value, the draft force was measured by the strain gauge system on the general slope land and compared with theoretical values. The results of the analytical and experimental performance of power tiller on the field may be summarized as follows; (1) The mathematical equation of rolIing resistance was derived as $$Rh=\frac {W_z-AC \[1+ \frac{sl}{K} \(\varrho ^{-\frac{sl}{K}-1\)\] sin\theta_1}} {tan\phi \[1+ \frac{sl}{K} \(\varrho ^{-\frac{sl}{K}-1\)\]+\frac{tan\theta_1}{1}$$ and angle of rolling resistance as $$\theta _1 - tan^1\[ \frac {2T(AcrS_0 - T)+\sqrt (T-AcrS_0)^2(2T)^2-4(T^2-W_2^2r^2)\times (T-AcrS_0)^2 W_z^2r^2S_0^2tan^2\phi} {2(T^2-W_z^2r^2)S_0tan\phi}\] $$and the equation of frft force was derived as$$P=(AC+Rtan\phi)\[1+ \frac{sl}{K} \(\varrho ^{-\frac{sl}{K}-1\)\]cos\phi_1 ? \frac {W_z ?{AC\[ [1+ \frac{sl}{K} \(\varrho ^{-\frac{sl}{K}-1\)\]sin\phi_1 {tan\phi[1+ \frac{sl}{K} \(\varrho ^{-\frac{sl}{K}-1\]+ \frac {tan\phi_1} { 1} ? W_1sin\alpha $$The slip coefficient K in these equations was fitted to approximately 1. 5 on the level lands and 2 on the slope land. (2) The coefficient of rolling resistance Rn was increased with increasing slip percent 5 and did not influenced by the angle of slope land. The angle of rolling resistance Ol was increasing sinkage Z of driving wheel. The value of Ol was found to be within the limits of Ol =2? "'16?. (3) The vertical weight transfered to power tiller on general slope land can be estim ated by use of th~ derived equation: $$R_pz= \frac {\sum_{i=1}^{4}{W_i}} {l_T} { (l_T-l) cos\alpha cos\beta ? \bar(h) sin \alpha - W_1 cos\alpha cos\beta$$The vertical transfer weight $R_pz$ was decreased with increasing the angle of slope land. The ratio of weight difference of right and left driving wheel on slop eland,$\lambda= \frac { {W_L_Z} - {W_R_Z}} {W_Z} $, was increased from ,$\lambda$=0 to$\lambda$=0.4 with increasing the angle of side slope land ($\beta = 0^\circ~20^\circ) (4) In case of no draft resistance, the difference between the travelling velocities on the level and the slope land was very small to give 0.5m/sec, in which the travelling velocity on the general slope land was decreased in curvilinear trend as the draft load increased. The decreasing rate of travelling velocity by the increase of side slope angle was less than that by the increase of hill slope angle a, (5) Rate of side slip by the side slope angle was defined as $ S_r=\frac {S_s}{l_s} \times$ 100( %), and the rate of side slip of the low travelling velocity was larger than that of the high travelling velocity. (6) Draft forces of power tiller did not affect by the angular velocity of driving wheel, and maximum draft coefficient occurred at slip percent of S=60% and the maximum draft power efficiency occurred at slip percent of S=30%. The maximum draft coefficient occurred at slip percent of S=60% on the side slope land, and the draft coefficent was nearly constant regardless of the side slope angle on the hill slope land. The maximum draft coefficient occurred at slip perecent of S=65% and it was decreased with increasing hill slope angle $\alpha$. The maximum draft power efficiency occurred at S=30 % on the general slope land. Therefore, it would be reasonable to have the draft operation at slip percent of S=30% on the general slope land. (7) The portions of the power supplied by the engine of the power tiller which were used as the source of draft power were 46.7% on the concrete road, 26.7% on the level land, and 13~20%; on the general slope land ($\alpha = O~ 15^\circ ,\beta = 0 ~ 10^\circ$) , respectively. Therefore, it may be desirable to develope the new mechanism of the external pO'wer transmitting system for the general slope land to improved its performance.