Development and Automatization of Operation of Articulated Train-Vehicle for Off-road Usage

越野用铰接式火车车辆的开发和操作自动化

• 批准号: 62560247
• 负责人: TAKEUCHI Ryuzo
• 金额: $ 1.34万
• 依托单位: Kobe University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1987
• 资助国家: 日本
• 起止时间: 1987 至 1988
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-62560247/
• 关键词: Articulated Train Vehicle; Off-road Travelling; 操縦のコンピュータアシスト; 操縦のコンビュータアシスト; 不整地走行; 多連節車両; 全油圧駆動; けん引及び登坂性能; 電子; 油圧制御; コンピュータアシストとよるならい制御; 車体の安定性; 転倒限界

The articulated train vehicle was constructed under new design concept for usage on rough terrain and steep slopes. The vehicle has two ariticulate mechanism which have two dimensional freedom of bending and is composed from three unit vehicles. The articulate mechanism is composed from two hydraulic cylinders set at lower position and one universal joint set at upper position.1. Wheel road at each of all 8 wheels was measured, and antioverturn stability was discussed on several couditions of travelling. Wide range of stability was confirmed.2. Computer assist for operation of two articulate mechanisms was developed and discussed on positioning accuracy of hydraulic cylinders. When man oprates the articulate mechanism by adjusting the bending angles, piston displacement is numerically controlled by micro computer and rear articulate mechanism is follow-up-controlled to the front.3. An example of field operation by the vehicle as skidder was considered. Skidding resistances on terrain were measured. The efficiencies of skidding operations on actual forest condition were evaluated, and also consumed energy eas discussed.

铰接式列车车辆是根据新的设计理念建造的，适用于崎岖地形和陡坡。该小车具有两个具有二维弯曲自由度的铰接机构，由三个单元小车组成。铰接机构由两个位于下部的液压缸和一个位于上部的万向节组成.测量了8个车轮的轮路，讨论了不同行驶工况下的抗倾覆稳定性。稳定性范围较宽.对两个铰接机构的计算机辅助操作进行了研究，并对液压缸的定位精度进行了讨论。当人通过调节弯曲角度来操作铰接机构时，活塞位移由微机数控，后铰接机构对前铰接机构随动控制.考虑了车辆作为集材机进行现场操作的示例。测量了地面上的防滑阻力。并对集材作业在实际林分条件下的效率进行了评价，同时对能耗进行了讨论。

项目成果

Hisashi HORIO, et al: "Articulated Train Vehicle of Multi-usage on Rough Terrain and Steep Slopes" The Proceedings of International Conference for Terrain-Vehicle Systems, Barocelona. II. 915-921 (1987)

Hisashi HORIO 等人：“在崎岖地形和陡坡上多用途的铰接式列车车辆”，巴罗塞罗纳地形车辆系统国际会议论文集。

H.Horio,;H.Yamamoto.: The Proceedings of International Conference for Terrain-Vehicle Systems,Barcelona,1987-9. II. 915-921 (1987)

H.Horio,;H.Yamamoto.：地形车辆系统国际会议记录，巴塞罗那，1987-9。

堀尾尚志・山本博昭: テラメカニックス. 8. 53-58 (1988)

Takashi Horio 和 Hiroaki Yamamoto：Terra Mechanics。8. 53-58 (1988)

堀尾尚志、山本博昭: テラメカニックス. 8. 53-58 (1988)

Takashi Horio，Hiroaki Yamamoto：Terra Mechanics。8. 53-58 (1988)

H.Horio,;H.Yamamoto.: Terramechanics(international Journal). (1989)

H.Horio,;H.Yamamoto.：Terramechanics（国际期刊）。