An improved LuGre model for calculating static steering torque of rubber tracked chassis

Tire and rubber track interchangeable chassis combines the advantages of tire and rubber track,which can greatly improve the maneuverability of military construction machinery.However,there is almost no effective calculation model for the real-time static steering torque.When the relative sliding speed is greater than 0.01 m/s,the influence of friction heating can not be ignored.An improved LuGre model is established to calculate the static real-time steering torque of tire and rubber track interchangeable chassis.Firstly,the friction heating model between rubber and ground is established.Combined with the influence of temperature on the dynamic performance of rubber material,the influence of friction heating on the stiffness and friction coefficient of rubber track is analyzed,and the improved LuGre friction model is established.The steering torque of tire and rubber track interchangeable chassis is affected by rubber material properties,steering speed,pavement type,and ambient temperature.Compared with the original Lu Gre model,the improved LuGre model captures the change in friction torque during multiple in-situ turns due to frictional heating.The error with the experimental data is small,which verifies the effectiveness of the improved LuGre model.

Mechanical Properties Study of Reinforced Thermoplastic Pipes Under A Tensile Load

This paper presents a study on the tensile properties of reinforced thermoplastic pipes(RTPs). A mechanical model of RTPs with an arbitrary number of reinforced layers under tensile action is constructed by combining the constitutive relationship of elastoplastic materials with the continuous displacement condition. On this basis, the effects of various parameters such as the winding angle, the number of structurally reinforced layers, and the inner polyethylene(PE) liner thickness on the tensile properties of the RTPs were analyzed, and a tensile test was carried out for validation. The results showed that the winding angle of the structurally reinforced layers was the main factor affecting an RTP's tensile performance— decreases in the winding angle significantly improved its tensile ability,especially the longitudinal strength. With ±45° as the demarcation point, the winding angle smaller than ±45° will result in higher strength in longitudinal direction, and the lifting effect on RTP's mechanical properties of the increasing number of reinforcement layers was better than that of the increasing thickness of the lining layer;when the winding angle was larger than ±45°, the opposite results were obtained. The fibre load was more sensitive to the winding angle than the PE load.

Placement Optimization Method of FPSO Gas Detectors Based on Leakage Risk

As the first step of the fire/gas-detection systems of floating production storage and offloading(FPSO)units is to iden-tify leakage accidents,gas detectors play an important role in controlling the leakage risk.To improve the leakage scenario detection rate and reduce the cumulative risk value,this paper presents an optimization method of the gas detector placement.The probability density distribution and cumulative probability density distribution of the leakage source variables and environmental variables were calculated based on the Offshore Reliability Data and the statistical data of the relevant leakage variables.A potential leakage sce-nario set was constructed using Latin hypercube sampling.The typical FPSO leakage scenarios were analyzed through computational fluid dynamics(CFD),and the impacts of different parameters on the leakage were addressed.A series of detectors was deployed according to the simulation results.The minimization of the product of effective detection time and gas leakage volume was the risk optimization objective,and the location and number of detectors were taken as decision variables.A greedy extraction heuristic algo-rithm was used to solve the optimization problem.The results show that the optimized placement had a better monitoring effect on the leakage scenario.

Classification and Analysis of Electric-Powered Lateral Torque-Vectoring Differentials with Six Elements

The principle of improving the torque amplification factor of E-TVDs with six elements is illustrated in this paper.A velocity diagram is used to study speed and torque relationships.The results reveal that the torque amplification factor is the linear combination of the ratio of the differentials of the four elements and the ratio of planetary gear units,and its maximum value is easily more than 10.The E-TVDs with six elements are classified into three types,and there are six different configurations for each type.The torque amplification factor and the speed of interconnection between two planetary gear units are employed to evaluate the different characteristics of each E-TVD with six elements.The feasible configurations of a differential with four elements are also presented by the analysis of velocity level and planarity.This paper helps to further the understanding of the complex interconnection of the planetary gear units in E-TVDs with six elements and the differences of their characteristics.