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.

该铰接式列车车辆采用新的设计理念，可在崎岖地形和陡坡上使用。该车辆具有两个具有二维弯曲自由度的关节机构，由三个单元车辆组成。铰接机构由设置在下部的两个液压缸和设置在上部的万向节组成。 1．测量了所有8个车轮的车轮路面，并在几次行驶中讨论了抗倾覆稳定性。证实了广泛的稳定性。2．开发了两种关节机构的计算机辅助操作，并讨论了液压缸的定位精度。当人通过调节弯曲角度来操作铰接机构时，活塞位移由微电脑数控，后铰接机构对前部进行随动控制。 3．考虑了车辆作为集材机进行现场操作的示例。测量了地形上的防滑性。评估了集材作业在实际森林条件下的效率，并讨论了能源消耗。

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）。