Intelligent system for determining the supporting surface characteristics during tracked machine motion

A block diagram of an intelligent system has been proposed to determine the supporting surface characteristics during the movement of a tracked machine in real time environment. The possible advantages and disadvantages of the system were indicated and the system was compared to the methods of forecasting traffic conditions, based on database analysis, contactless telemetry, scanning of terrain and other methods. The description of the system blocks was given considering in detail the purpose and interrelationship between the component elements. The requirements for blocks and individual components of the system were specified. The concept of system integration was presented to determine the supporting surface characteristics during the tracked machine transition to an autonomous motion control system. A method was proposed in which the databases were not applied and which was based on the solution of the direct and inverse problems of terrain mechanics with reference to autonomous tracked mobile complexes to calculate the supporting surface properties. Typical examples of various types of soil bases behavior to determine the supporting surface characteristics were taken as the basis for the development of algorithms for the work of the system. Different identity criteria were proposed to test the correspondence of the surface behavior models to its real properties. The analysis of technical problems was carried out, the solution of which was a necessary condition for creating a system for determining the supporting surface characteristics. When provided by the feedback the synthesized system possesses the property of adaptivity. For the functioning of this type of a system it is necessary to develop: 1) a system of sensors that enable to obtain the initial data for a terrain characteristics system in real environments; 2) an apparatus for the verification of the calculated characteristics; 3) the method of obtaining “load-deformation” dependencies for a specific type of the supporting base; 4) the method of assessing the physical properties of the surface by the support base mechanical characteristics.

control system, tracked machine, terro-mechanics, soil properties, autonomous mobile complex

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