Fuzzy and design optimization for an intelligent additional track mechanism of swamp peat vehicle

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1 The 3rd Nionl Grdue Conference (NGrd015), Universii Ten Nsionl, Purjy Cmus, 8-9 Aril 015. Fuy nd desin oimiion for n inellien ddiionl rck mechnism of swm e vehicle N.H.M. Zbri *, A.K.M. PrveIqbl, K.S.M. Shri Cenre for Advnced Mechronics nd Roboics, Collee of Enineerin, Universii Ten Nsionl (UNITEN), Jln IKRAM- UNITEN, 3000 Kjn, Selnor, Mlysi, Emel:[email protected] Absrc The biliy o mneuver low berin cciy of soil is he min key for swm e vehicle o oere effecively. Therefore, n inellien ddiionl rck mechnism wih fuy conroller sysem hs been develoed o oere on swm e errin wih berin cciy of 7kN/m. This er resens he desin oimiions of he inellien ddiionl rck mechnism wih fuy loic exer (FLE) model. The desin rmeers re oimied usin develoed mhemicl model bsed on he dynmics nd kinemics behvior of he vehicle. Focusin on minimiin ower consumion nd incresin round surfce re, he ddiionl rck mechnism is desined such h i cn be fold nd unfold from is osiion hrouh bll-screw scissor lif mechnism sysem. hile, FLE is used o conrol he movemen of he lif mechnism bsed on 70mm criicl sinke of vehicle deeced from se of sensors. Keywords Trcked vehicle; Fuy loic conroller; Swm e I. INTRODUCTION Off-rod vehicles re secilly desined for mobiliy on vriey erh surfces in he world. I is used widely for riculure, miliry, minin oerion nd consrucion roosed. In Mlysi mos of he off-rod vehicle could no oere smoohly over swm e errin becuse of is low berin cciy of bou 7 kn/m [1]. There were severl desins of rcked vehicle hd bein develoed wih hih crossin biliy over he swm e errin such s n inellien ir-cushion sysem rcked vehicle nd semened rubber rcked vehicle. However, hose desins filed o oere effecively over he swm e errin. Imlemenion of semened rubber exered hih force on he errin cused he vehicle ineffecive while, hih fricion occurred beween ir-cushion nd round surfce cused he slie of rcks from he drivin wheels for n inellien ir-cushion sysem h reduced he effeciveness of he vehicle. *Corresondin uhor Hih enery consumion ws found due o he dd-on roeller o mke he vehicle move s he ir cushion sysem funcionin. Mechnicl roeries of he errin re he min fcors h need o ke considerion in develoin swm e errin vehicle o redic he vehicle erformnce nd effeciveness []. Alon wih he swm e errin vehicle develomen, inellien sysem for conrollin he vehicle lso lys n imorn role in chievin he sndrd of echnoloy used in mos vehicles nowdys. The mos common conroller bein used nowdys is Fuy loic conroller sysem. Fuy conrol is conrol rocess which converin nurl lnue ino he numericl se rher hn usin direc equions or numbers [3]. I is develoed bsed on he humn hinkin in solvin unceriny []. Comred o convenionl PID Conrollers, fuy conroller rovides exc esimion of unknown vlues from model d wih quick resonse [5]. The licions of fuy conrol hve incresed recenly. Mos of uomic elecricl roducs such s wshin mchine, elevor, comuer nd wer quliy conrol re usin fuy conrol sysem [6]. Fuy conroller lso hs been used s rffic juncion sinl conroller. I ws sed h fuy conroller cn mne more hn one inu vribles, usin fewer conrol rules nd ech juncion cn connec wih ohers comred o convenionl conroller [7]. Hence, for his rojec, n inellien ddiionl rck mechnism hs been develoed in subsequence o imrove he revious echnoloy of swm e errin vehicle. The inellien ddiionl rck mechnism consiss of rck, lifin mechnism, se of disnce sensors nd fuy conroller sysem. I is cived when he vehicle es sunk in swms e errin nd folded bck in he middle of vehicle frme on norml round surfce. The movemen of he inellien rck is conrolled by fuy conroller bsed on he disnce sensor sinl. The objecive of he imlemenion of he inellien ddiionl rck is o increse round surfce re, floion on he swm e errin nd reduce enery consumion of swm e rck vehicle. 153

2 The 3rd Nionl Grdue Conference (NGrd015), Universii Ten Nsionl, Purjy Cmus, 8-9 Aril 015. II. METHODOLOGY In order o desin he rcked vehicle in his sudy, revious reserch on semened rubber rcked vehicle [8] nd hybrid elecricl ir-cushion rcked vehicle [9] hs been used s reference model. Creo Prmeric.0 desin sofwre is used in his desin rocess o roduce he D nd 3D model for ech comonen. This desin is cusom-build smll sie of inellien ddiionl rck mechnism wih rio of nd sill in develoin rocess. Even houh in smll-scle, he desin hs sisfied he requiremen of he desin crieri so h he vehicle cn run over low berin cciy of 7kN/m. Mhemicl models of he vehicle hve been develoed by considerin round conc ressure nd vehicle sinke. All clculions in his exerimen re bsed on force cin on rcked vehicle in Fi. 1 by considerin ol vehicle weih, rck sie wih lenh L, widh B, heih of cenre rviy h c, rdius of rer srocke R rs, wheel rdius R r, nd rouser heih H. here, is nominl ressure of errin in kn/m, is vehicle sinke in m, k is underlyin e siffness in kn/m 3, m m is surfce m siffness in kn/m 3 nd D h is hydrulic dimeer of rck in m. (ii) Vehicle round conc ressure (VGCP) wihou ddiionl rck: () A here, is vehicle ol lod in kn nd A is round conc re of he rck in m. (iii) Vehicle round conc ressure wih ddiionl rck: (3) A A here, A is effecive re of ddiionl rck in m nd is weih of ddiionl rck I is noed h VGCP wihou ddiionl rck is hiher hn TNP, which mens he vehicle cnno move over he swm e errin s he vehicle round conc re is smll which cnno rovide enouh suor o he vehicle from is sinkin. hile, wih he resence of n ddiionl rck, he vehicle round conc re is incresed. This cn rovide enouh suor o he vehicle on errin wih berin cciy of roximely 7kN/m. Fi. 1: Force cin on rck vehicle A. Mhemicl model of ddiionl rck Vehicle round conrc ressure: To kee movin in swm e errin, round conc ressure of rcked vehicle needs o be less hn he errin nominl ressure oherwise vehicle will be suck due o criicl sinke of 70mm. The round conc ressure wih nd wihou ddiionl rck is formuled in Eq. (1), Eq. () nd Eq. (3) s below: (i) Terrin nominl ressure (TNP): wih k mm (1) Dh D h LB L B Vehicle sinke (i) Vehicle rck sysem wihou ddiionl rck: k Dh k Dh Dh mm mm mm 1 () where LB D h, L L, YZ, where, L B A A ( L B) (ii) Vehicle rck sysem wih ddiionl rck: k Dh k Dh Dh mm mm mm (5) BL where Dh, L B 15

3 The 3rd Nionl Grdue Conference (NGrd015), Universii Ten Nsionl, Purjy Cmus, 8-9 Aril 015. L L cos L R sin, XY YZ rs L XY, sin, where A ( L B) L B A nd 1 v( ) where, is round conc ressure of he vehicle in kn/m, is he sinke in m, m m is surfce m siffness in kn/m 3, k is underlyin e siffness in kn/m 3, D h is hydrulic dimeer of he rck in m when ddiionl rck ouches he round, L is round conc lenh of he rck in m when ddiionl rck ouches he round, A is round conc re of he rck in m when ddiionl rck ouches he round, is ol vehicle lod in kn, v() is vehicle ril lod suored by he ddiionl rck sysem in kn, δ is lod disribuion rio, R rs is rer srocke rdius in m, θ is nle beween he rck of he 1 s rod-wheel o ensioned wheel nd o he round in derees. Power consumion, round conc ressure nd sinke hve been oimied usin he develoed mhemicl model. The comued vlues of 1 nd re m nd 0.00 m, for he vehicle wihou nd wih ddiionl rck. From he vlue, i is clerly showed he benefi of lyin n ddiionl rck mechnism s he rcked vehicle movemen suor in swm e errin. Hence, bsed on he develoed mhemicl model, n inellien ddiionl rck mechnism is desined wih round conc re of 0.18 m wih ol weih of.563 kn. B. Mechnicl desin of ddiionl rck mechnism Fi. shows he whole ssembled srucure of he rcked vehicle wih n inellien ddiionl rck mechnism. Bll-screw scissor lif mechnism Frme Inellien ddiionl rck Drive moor The sie of n inellien ddiionl rck frme is smller hn he mjor rck frme. I is desined in such wy so h he inellien rck mechnism cn be fied in he middle orion of rck vehicle mjor frme. The mjor frme of rck vehicle cn suor wo ses of mjor rcks, one se of ddiionl rck, lif mechnism, moor nd conrollin sysem. Trck mechnism The rck mechnism consiss of wheels, wo srockes, fron idler nd rubber rck. The wheels re used o suor he rck shoes when movin on he round while, he srockes of he wo mjor rcks re used o drive he rck mechnism. I is equied wih wo moors for flexible movemen. Inellien ddiionl rck mechnism Inellien ddiionl rck mechnism is equied wih bll-screw scissor lif mechnism. I is used o suor swm e rcked vehicle from bein sunk in swm e errin nd move smoohly cross on i. The ddiionl rck mechnism is funcioned s he disnce sensors deec he chnes of he vehicle osiion from he round surfce. Then he sinl from he sensor is rnsferred o he fuy conroller sysem for inerreion. Fuy sysem ives direcion o he lif mechnism o move downwrd or uwrd ccordin o he disnce of he vehicle s CG nd he round surfce. C. Fuy exer sysem There re four min rincile comonens used in fuy loic exer sysem (FLES) which re fuificion ke inu nd conver o fuy form, rule bse consiss ifhen rule bsed on humn hinkin in solvin roblem, inference crees cion bsed on he received informion nd defuificion clcule he cul ouu [5]. Fuy exer sysem cn hold vrious inus nd roduce one ccure ouu. Fuy ool in MATLAB Simulink is used in his rojec o develo fuy exer sysem model for inellien r of he ddiionl rck mechnism. Fi. 3 shows he fuy srucure in MATLAB Simulink window. Fuificion Inference Defuificion Mjor rck Fi. : Assembled srucure of inellien ddiionl rck vehicle Trck vehicle frme Rule bse Fi. 3: Fuy srucure in MATLAB Simulink window 155

4 The 3rd Nionl Grdue Conference (NGrd015), Universii Ten Nsionl, Purjy Cmus, 8-9 Aril 015. Inellien r or fuy conrol sysem in his rojec is consruced wih wo linuisic vribles inus of hih error (HE) nd re of hih error (RHE) in uni of meer, 5 ses of IF-THEN rules nd one linuisic vrible ouu of curren (I) needed o roe he bll-screw lif mechnism in ercene (%). Ech of inu nd ouu rmeers consis of 5 linuisic vlues where, for HE inu, here re lre neive error (LNE), smll neive error (SNE), ero error (ZE), smll hih error (SHE), nd lre hih error (LHE). As for RHE inu vribles, here re lre neive re of error (LNRE), smll neive re of error (SNRE), ero re of error (ZRE), smll re of hih error (SRHE), nd lre re of hih error (LRHE). For ouu I, he vribles re lre neive suly (LNS), smll neive suly (SNS), leve lone (LA), smll osiive suly (SPS), nd lre osiive suly (LPS). In his er, he rnes of linuisic vlues showed is jus referrence vlue s he rcked vehicle is sill in he develomen rocess. In fuy sysem, Mmdni fuy inference sysem (FIS) is used o min iven inu o n ouu bsed on fuy ses. I is involved wih four bsic ses: fuificion of he inu vribles, rule evluion, reion of he rule ouus nd defuificion [10]. Tble 1 shows he inference rules of conroller rmeers in mmdni rule bse. Fi. : Prooye membershi funcions of inu HE Fi. 5: Prooye membershi funcions of inu RHE Tble 1: Inference rules of conroller rmeers Rules Inu vribles Ouu vrible HE RHE I 1 LNE LNRE LNS 6 SNE LNRE SNS 10 SNE LHRE SNS 1 ZE SHRE LA 5 LHE LHRE LPS Trinulr shed membershi funcion is mosly used in his sudy o reresen he fuy ses of linuisic vribles inu nd ouu. This is for more ccurcy nd simlifies he comuion rocess [10]. Afer comlein he fbricion of he rcked vehicle, he fuy conroller will be imlemened nd some nlysis will be done o e he exc rne vlue of he inu rmeers. Therefore he conce of fuy conroller used in his er would be he sme s in rel condiion. Fi. 6 shows he rooye of membershi funcions for inu vrible of HE,RHE nd he ouu I. Fi. 6: Prooye membershi funcions of ouu I Fi. 7 shows he surfce develoed from inus nd ouu rmeers. Bsed on he fiure, he surfce is incresed osiively where, s he HE nd RHE chieved he mximum osiive vlues he curren (I) suly lso reched 100%. Hence, he resul shows he sisfcion of he conroller sysems wih he execed resul. Then, he fuy sysem is convered ino code lnue such s Mlb rormmin code nd downloded in microrocessor. Finlly, he microrocessor will run he mchine bsed on he develoed fuy conroller sysem. 156

5 The 3rd Nionl Grdue Conference (NGrd015), Universii Ten Nsionl, Purjy Cmus, 8-9 Aril 015. [6] Chun Chien Lee, Fuy Loic in Conrol Sysems: Fuy Loic Conroller, IEEE Trnscions on sysems, mn, nd cyberneics, Vol. 0, No., (1990), [7] Chih-Hsun Chou, Jen-Cho Ten, A fuy loic conroller for rffic juncion sinlsinformion Sciences, 13 (00) [8] Aur Rhmn, Ami Yhy, Mohd. Zohdie, Des Ahmd And n Ishk, Desinin Frmework Of A Semened Rubber Trcked Vehicle For Sen Pe Terrin In Mlysi, IIUM Enineerin Journl, Vol. 6, No. 1, 005,. 1-. [9] Aur Rhmn, A.K.M. Mohiuddin, Ahmd Fris Ismil, Ami Yhy, Alb Hossin, Develomen of hybrid elecricl ir-cushion rcked vehicle for swm e, Journl of Terrmechnics 7 (010) 5 5. [10] Michel Nenevisky, Arificil Inellience: A Guide o Inellien Sysems. nd Ed., Unied Kindom, Person Educion Limied, Fi. 7: Surfce of fuy conroller III. CONCLUSION Low berin cciy of swm e errin ives bi influence in desinin he whole r of rcked vehicle wih inellien ddiionl rck mechnism. In order o overcome he roblem, he suible mhemicl model is required o roduce sisfied desin rmeers such s vehicle round ressure nd vehicle sinke so h he vehicle sisfied he swm e errin condiions. The use of fuy conroller sysem for inellien r of rcked vehicle roduced beer resuls nd sisfied he execed oucome of he rojec. ACKNOLEDGMENT The uhors like o hnk Kemenerin Pendidikn Mlysi (KPM) for fundin his rojec nd lso o Universii Ten Nsionl for suorin his rojec. REFERENCES [1] Alb Hossin, Aur Rhmn, A.K.M. Mohiudind, Yulfin Aminnd, Fuy Loic Sysem for Trcive Performnce Predicion of n Inellien Air-Cushion Trck Vehicle, orld Acdemy of Science, Enineerin nd Technoloy, 5 (011), [] Aur Rhmn, Ami Yhy, Mohd. Zodidie, Des Ahmd, n Ishk, A.F. Kheirll, Mechnicl roeries in relion o vehicle mobiliy of Sen e errin in Mlysi, Journl of Terrmechnics, 1(1) (00), [3] Essm Nsheh nd Khlid A. Bur, Comrison beween Convenionl nd Fuy Loic PID Conrollers for Conrollin DC Moors, IJCSI Inerninl Journl of Comuer Science Issues, Vol. 7, (5) (010), [] Gurv, Amri Kur, Comrison beween Convenionl PID nd Fuy Loic Conroller for Liquid Flow Conrol: Performnce Evluion of Fuy Loic nd PID Conroller by Usin MATLAB/SimulinkInernionl, Journl of Innovive Technoloy nd Exlorin Enineerin (IJITEE) ISSN: , Volume-1, Issue-1, June 01, [5] Alb Hossin, Aur Rhmn, A.K.M. Mohiuddin, Fuy evluion for n inellien ir-cushion rcked vehicle erformnce, Journl of Terrmechnics, 9 () (01),