Dynamic Performance of Off-Road Vehicles
Dynamic Performance of Off-Road Vehicles
Helw
wan University
Facultty of Engin
neering
Ma
attaria – C
Cairo
Au
utomotive & Tractorrs Engineeering
Departme
D ent
Dynam
mic Perrforman
nce of O
Off-Roaad Vehicles
Ju
uly 2015
Superrvition By
B
Prof.D
Dr. Shawwky Abd Elhad
dy
Prof. Mohamed
Assc.P d Watanny
Dr. Mostafa
M Mahmo
M ud
Helwa
an Univerrsity
Faculty of
o Engineeering
Matttaria – Caiiro
Autom Engineeriing
motive & Tractors E
Department
Dynam
mic Perrforman
nce of O
Off-Roaad Vehicles
Prepared by:
1. Ahmed
A Moohamed Moohamed Ab
bd El Aal
2. Michael
M Waaged Wadiie
3. Mohamed
M Ali
A El Sayeed Ahmed
4. Mohamed
M Ramadan
R Mousa
M
Acknowledgements
In the name of Allah, the most beneficent, the most merciful.
And say: soon will Allah observe your work and his messenger and the
believers
God blessed us by the professors with their science, knowledge, advice and
experience, who were fathers with their caring, support patience and kindness.
We would also like to express our gratitude and appreciation for the faculty of
engineering, Mattaria, Helwan University.
Content
Chapter one (Introduction to heavy equipment)
Page
1.1 Definition (2)
4.2 Measurement Equipment (41)
4.2.1 Brüel & Kjær Type‐B Compact Data Acquisition Unit (42)
4.2.1.1 Uses (42)
4.2.1.2 Construction (42)
4.2.1.3 Features (44)
4.2.1.4 Power Supply (44)
4.2.1.5 Silent Operation, Cooling (44)
4.2.1.6 Accuracy, Safety and Efficiency (44)
4.2.1.7 Dyn‐X technology (44)
4.2.2 Accelerometer (45)
4.2.2.1 Constant Acceleration (45)
4.2.2.2 Transient Acceleration (45)
4.2.2.3 Periodic Acceleration (45)
4.2.3 B&K PULSE labshop (47)
4.2.3.1 Uses and Features (47)
4.2.3.2 Signal data analysis (48)
o 4.2.3.2.1 Time‐domain analysis (48)
o 4.2.3.2.2 Frequency‐domain analysis (48)
4.3 Tractor Specifications (49)
4.4 Preparation before the experimental test (51)
4.4.1 Tractor steering System (51)
4.4.2Driver Seat (52)
Chapter Five (Experimental Results)
5.1 Calibration Of Tractor Speed (55)
5.4-Methodology (59)
5.5-Test 1a (59)
5.5.1-DX1 (59)
5.5.2-DX2 (61)
5.6Test 1b (62)
5.6.1-DX1 (62)
5.6.2-DX2 (64)
5.7-Test 2a (65)
5.7.1-DX1 (65)
5.7.2-DX2 (67)
5.8-Test 2b (68)
5.8.1-DX1 (68)
5.8.2- DX2 (70)
5.9-Test 3a (71)
5.9.1-DX1 (71)
5.9.2-DX2 (73)
5.10-Test 3b (74)
5.10.1-DX1 (74)
5.10.2-DX2 (76)
5.11- Discussions (77)
Table
Page
Chapter Four (Measurement Equipment)
Table 4.1 (30)
Chapter Five (Experimental Results)
Table 5.1 (43)
Picture
Chapter One (Introduction to heavy equipment)
page
Fig.1.1 The bulldozer (4)
Figure 3.2 New Holland Series TM tractor ‘Comfort Ride’ cab suspension
system(courtesy CNH) (28)
Figure 3.3 New Holland ‘Comfort Ride’ cab suspension system (detail) (courtesy
CNH) (29)
Figure 3.4 JCB Fastrac chassis and suspension system (courtesy JCB) (29)
Figure 3.6 John Deere ‘Triple Link Suspension’ (TLS) front axle suspension
system(courtesy John Deere) (31)
Figure 3.8 Change in UK holding average cropped area / herd size: 1987-2000 (34)
Figure 3.10 Average engine power of tractors (above 40 hp) sold in the UK (35)
Fig. 4.2 (44)
Fig. 4.3 (46)
Fig 4.4 (46)
Fig. 4.5 (46)
Fig. 4.6 (46)
Fig 4.7 (47)
Fig 4.8 Massey Ferguson 285 Tractor (50)
Fig. 4.9 (51)
Fig 4.10 (52)
Fig 4.11 (53)
Fig 4.12 (53)
Fig 4.13 (53)
Fig. 5.2“T-Piece” and where the sensors were attached in Test xa (58)
Fig. 5.3“T-Piece” and where the sensors were attached in Test xb (58)
Fig.5.13 (62)
References (78)
Chapter One Introduction To Heavy Equipment
Chapter one
1
Chapter One Introduction To Heavy Equipment
1.1 Definition
Off-road mobile heavy equipment is those machines that mainly are
Intended for working on unprepared terrain. They have attachments for
soil working out mounted either on wheeled or tracked vehicles. They
also have considerable ability to provide the required traction forces on
soft soils and the other forces necessary for soil working out.
Off-road heavy mobile equipment currently in use are numerous; they
differ in shape, size, design, facilities and attachments.
2
Chapter One Introduction To Heavy Equipment
3
Chaptter One Intrroduction
n To Heaavy Equippment
1.4.1.1 Bulldoozers:
Bulldozerr is a mobiile earthm
moving maachine thatt has a cuttting bladee and a
moldboard fixed d into the front,
f Fig..2.1.
The cuutting blad
de disengaages (cuts--off) the sooil surfacee layers annd
displacces them vertically
v t the molldboard.
to
The mmoldboard pushes thee cut soil layers
l andd roll them
m in front ofo the
bulldozer.
Fig
g.1.2 The sscraper
1== tractor 2= bowel 3=buffer
3 4
4=gate
a) Toowed scrap per b) Selff-propelledd scraper
1.4.2 Equipm
ment For Land Leveling
The purpo ose of usinng such eqquipment is i to level the land surface
s to be as
level aas possiblee, and this operationn is usuallyy done in two stages which
are:
a) Prelimiinary Leveeling
b) Final leeveling
Equipm ment usedd for prelim minary lannd levelingg are the scrapers
s annd
bulldozers. They y are usedd for transp
porting thee cut soil portions
p from
fr the
digginng places where
w landd surface level
l is higgher than original too the
places of lower surface level.
Equipm ment usedd for final land surfaace levelinng are;
• The gradders, and
• The leveelers
These are used to t get morre accuratee leveling of the lan nd surface as in the
cases of
o road constructionn or land irrrigation.
Fig.1.33 shows a typical grrader whicch is a bassic machinne for usedd to
profilee road bedds, to makee road embbankmentts, and to shift
s and leevel the
soil ovver the roaad bed.
5
Chaptter One Intrroduction
n To Heaavy Equippment
1.4.3 Equipm
ment For Soil Dig
gging An
nd Excav
vation
These are machiines used for deep soil
s cuttingg and excaavation. Various
V
types of
o such maachines arre:
• Shovels
• Chain trrenching machines
m
• Rotary trenching
t m
machines
• Drilling machiness
1.4.3.1 Shovels:
Shovel is a single-bbucket exccavator. After
A the sooil is separrated from
m the
groundd mass by the buckeet, it is carrried out fo
for a comp paratively short
distancce, and eitther dumpped or loadded into thhe transporrt facility.
Excavaator may have
h mechhanical or a hydraullic drive.
Accordding to thee purpose certain atttachmentss are fitted d to the exxcavator
6
Chaptter One Intrroduction
n To Heaavy Equippment
e) clam
m-shaft f) plough
p g) stump pulller h) pilee driver
Fig.1.44 Types off single-buucket excaavators.
7
Chaptter One Intrroduction
n To Heaavy Equippment
1.4.3.2 Chain
n Trench
hing Macchines:
They are equipmennt capable of diggingg deep tren nches andd they are often
o
used as mountedd equipmeent on tracctors and trrucks Fig..1.5 showss atypical type
of chaiin trenchinng machinnes. The working
w atttachment is the buccket framee with
its enddless chain
n to whichh the buckeets are fasstened. The frame iss lifted andd low-
ered byy a wire roope devicee, or hydraaulic, or chain
c drivee. Recent models
m usse mul-
ti-motoor drive innstead of a single onne, and hyydrodynammic transm mission witth a
hydrauulic torquee converteer. The bucckets are emptied
e ass they pass over the upper
sprockket of the chain
c by using
u sprinng-loaded scrapers.
1.4.3.3 Rotary
y Trench
hing Ma
achines:
They diffe
fer have hiigher efficciency thann chain treenching machines
m b
but
they arre used forr digging smaller siize trenchees (2.45 m maximum m depth).
Fig.1.66 shows a typical rootary trencching machhine. It is usually mounted
m
8
Chaptter One Intrroduction
n To Heaavy Equippment
1.4.3.4 Drillin
ng Mach
hines:
They are used
u for making
m pitts in the grround (up to 3 m in diameter or
more) for severaal purposees such as;; sanitary, electric, constructio
c on, and
geologgical.
Differeent techniques are used
u for diigging;
• Rotary,
• Percussiion,
• Percussiion-turninng,
• Percussiion-rotaryy, and
• Thermall.
9
Chaptter One Intrroduction
n To Heaavy Equippment
Fig.1.7 drilling
d tecchniques
a, b) rotaary c) perccussion d) percussioon-turning
e, f) percusssion-rotaryy g) therm
mal
1.4.4 Equipm
ment For Soil Com
mpaction
n
Soil coompactingg machiness are classsified into two mainn types:
a) Static compactio
c on
b) Tampinng or dynaamic comppaction
11
Chaptter One Intrroduction
n To Heaavy Equippment
12
Chaptter One Intrroduction
n To Heaavy Equippment
13
Chapter Two Farm Tractor
Chapter Two
Farm Tractor
14
Chapter Two Farm tractor
15
Chapter Two Farm tractor
2.2.2 Diesel
Dieselization gained momentum starting in the 1960s, and modern farm trac-
tors usually employ diesel engines, which range in power output from 18 to
575 horsepower (15 to 480 kW). Size and output are dependent on application,
with smaller tractors used for lawn mowing, landscaping, orchard work, and truck
farming, and larger tractors for vast fields of wheat, maize, soy, and other bulk
crops.
2.3 Transmission
Older farm tractors use a manual transmission with several gear ratios, typi-
cally three to six, sometimes multiplied into two or three ranges. This arrangement
provides a set of discrete ratios that, combined with the varying of the throttle, al-
low final-drive speeds from less than one up to about 25 miles per hour (40 km/h),
16
Chapter Two Farm tractor
with the lower speeds used for working the land and the highest speed used on the
road.
Slow, controllable speeds are necessary for most of the operations performed with
a tractor. They help give the farmer a larger degree of control in certain situations,
such as field work. However, when travelling on public roads, the slow operating
speeds can cause problems, such as long queues or tailbacks, which can delay or
annoy motorists in cars and trucks. These motorists are responsible for being duly
careful around farm tractors and sharing the road with them, but many shirk this
responsibility, so various ways to minimize the interaction or minimize the speed
differential are employed where feasible. Some countries (for example
the Netherlands) employ a road sign on some roads that means "no farm tractors".
Some modern tractors, such as the JCB Fastrac, are now capable of much higher
road speeds of around 50 mph (80 km/h)
2.5 Drawbars
Until the 1940s, plows and other tillage equipment usually were connected
to the tractor via a drawbar. The classic drawbar is simply a steel bar attached to
the tractor (or in some cases, as in the early Fortson’s, cast as part of the rear
transmission housing) to which the hitch of the implement was attached with a pin
or by a loop and clevis. The implement could be readily attached and removed, al-
lowing the tractor to be used for other purposes on a daily basis. If the tractor was
equipped with a swinging drawbar, then it could be set at the center or offset from
center to allow the tractor to run outside the path of the implement.
The drawbar system necessitated the implement having its own running gear (usu-
ally wheels) and in the case of a plow, chisel cultivator or harrow, some sort of lift
mechanism to raise it out of the ground at turns or for transport. Drawbars neces-
sarily posed a rollover risk depending on how the tractive torque was applied. The
Fordson tractors (of which more units were produced and placed in service than
17
Chapteer Two Farm traactor
Fig
F 2.1
A farm tractor useed to poweer a pump for
f irrigatinng a plot of land
A varietty of specialty farm tractors
t hav
ve been deeveloped foor particulaar uses.
These include
i "ro
ow crop" tractors
t with adjustabble tread w
width to alllow the traactor
to pass down row ws of corn, tomatoess or other crops withhout crushhing the plants,
18
Chapteer Two Farm traactor
Some faarm-type trractors are found elseewhere thaan on farmss: with largge universiities'
gardenin ng departm
ments, in pu ublic parkss, or for highway woorkman usee with blow w-
torch cyylinders strrapped to th
he sides an
nd a pneum matic drill aair compreessor
permanently fastened over th he power take-off.
t Thhese are offten fitted with grass
(turf) ty
yres which are less daamaging to o soft surfaaces than aggriculturall tires
19
Chapteer Two Farm traactor
2.6.1 Row-Crop
R p Tracto
or
crops to
o do weed control.
c Ro
ow-crop traactors—ligght, affordable, and rreliable—
correcteed this flaw
w.
20
Chapter Two Farm tractor
21
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
Chapter Three
22
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
3.1 Introduction
It has been widely recognised for a number of decades, that whole-body vibra-
tion (WBV) is a major source of discomfort for agricultural tractor operators
during typical farm operations (Matthews, 1966; Stayner & Bean, 1975; Bo-
venzi & Betta, 1994; Lines et al., 1995). Engineering solutions to reduce
WBV levels experienced by agricultural vehicle operators are commonplace,
historically in the guise of spring suspension seats, but more recently in the
form of cab and/or axle suspension system.
However, there are widespread concerns within the UK that the Directive
will limit WBV daily exposure levels for operators of agricultural and other
off-road vehicles, thereby potentially requiring alterations in vehicle usage
patterns at a time when the farming industry is under severe economic pres-
sure. It was therefore in the interest of employers, vehicle manufacturers
and the Health and Safety Executive (HSE) to ensure that the proposed legis-
lation was both adequate (in terms of operator protection) and realistic (in
terms of practical implementation) prior to its introduction in the Member
States (proposed 2007 for new agricultural & forestry vehicles; 2005 for all
other new vehicles).
23
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
24
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
25
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
26
Chappter Threee Wholle-Body Vibration
V ((WBV) Onn Agriculttural Vehiicles
Thee Renault ‘Hydrostaable’ cab suspensioon system m (see Figgure 2.1) was
w the
firstt, mass- produced
p tractor caab suspennsion systtem and is the mostm nu-
merrous in usse, havingg been av vailable onn many traactor models since 1987.
1 A
truee ‘full’ susspension system,
s coombined cooil springg & telescoopic dampper units
(4) support thhe cab upoon each corner (3); cab lateral location n is proviided by
trannsverse Paanhard rodds front anda rear (5),( and tw
win longitudinal strruts (7)
provvide longiitudinal loocation. A rear-mouunted anti--roll bar (6)
( limits cabc (Y-
axiss) roll. Thhe majoritty of otheer Europeean tractorr manufaccturers haave opt-
ed for
f simpleer cab suuspension systems in i which thet rear of
o the cabb is sus-
pennded from m the tracctor rear axle, but the front pivots on anti-vibration
rubbber mountings; lateeral locatiion at the rear beinng provideed by a Panhard
P
rod((s). This approach
a i typifiedd by the Neew Hollannd ‘Comfoort Ride’ cab
is c sus-
pennsion systeem, as fitted to thee New Hoolland Serries TM tractors
t (ssee Fig-
uress 2.2 & 2.3). Som me manuffacturers utilise airr-over-oil suspensiion ele-
mennts in thesse systems, therebyy permittinng control of cab ride heighht with
operators of different mass. However,
H the majority of
manuufacturers choose the simppler combbined meechanical spring-hyydraulic
dampper solutioon, as usedd by New Holland (see Figuree 2.3).
27
Chappter Threee Wholle-Body Vibration
V ((WBV) Onn Agriculttural Vehiicles
28
Chappter Threee Wholle-Body Vibration
V ((WBV) Onn Agriculttural Vehiicles
29
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
Whilst no other major tractor manufacturers have yet launched a fully sus-
pended vehicle in Europe in direct competition with the Fastrac, during
the last 4 years there has been a widespread introduction of ‘optional’ front
axle suspension systems on 4wd tractors of otherwise ‘conventional’ design,
especially above ~70 kW engine power. Indeed, market demand for this
feature is such that front axle suspension and cab suspension systems may
almost be regarded as standard product offering on frontline (high utilisa-
tion) arable farm tractors in Europe today.
30
Chappter Threee Wholle-Body Vibration
V ((WBV) Onn Agriculttural Vehiicles
ing universal-j
u jointed drriveshafts to the froont wheelss. Whilst an
a interestting so-
lutionn to the problem, it is nott known whetherw thhis approach delivers any
beneffits over other ‘live’ front axle suuspension designs. It is deebatable
whethher the recent
r intrroduction of ride-ccomfort en nhancing features, such as
front axle and cab suspension syystems, woould have been quite so widdespread
had iit not beenn for the commerciial compeetition proovided by the JCB Fastrac.
F
In anny case, thhe vehiclee operator can only benefit frrom the grreater avaiilability
of thiis technoloogy
F
Figure 3.5 New Hollland ‘Terrraglide’ frront axle suspension
s n system ((courte-
sy CNNH)
31
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
32
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
-10
% Change: 1987 - 2000
-20
-30
-40
-50
-60
-70
Crops Cere- Potatoes Sugar Beet Dairy Cows Beef Breeding Breed- Broilers
& als Sheep ing
Grass Pigs
Oilsee
d
Rape
33
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
130
120
110
100
90
% Change: 1987 - 2000
80
70
60
50
40
30
20
10
Crops Cere- Potatoes Sugar Beet Dairy Cows Beef Breeding Breed- Broilers
& als Sheep ing
Grass Pigs
Oilsee
d
Rape
Figure 3.8 Change in UK holding average cropped area / herd size: 1987-
2000
34
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
25
20
15
10
0
1988 1989 1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001
Year of manufacture
130
120
Average horsepower of tractors > 40 hp
110
100
90
80
70
60
1988 1989 1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001
Year of manufacture
Figure 3.10 Average engine power of tractors (above 40 hp) sold in the
UK
7000
Agricultural tractors currentlly licenced (estimated)
6000
5000
(with respect to hp class)
4000
3000
2000
1000
0
1997 1998 1999 2000 2001 2002
Year of man
nufacture
0
41 - 60 61 - 80 81 - 100 101 - 13
30 131 - 160 161 - 200 201+ (hp)
F
Figure 3.1
11 Enginee power distribution of UK agricultural tractor salles
(aabove 40 hp)
h
36
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
250
200
100
50
0
1998 1999 2000 2001 2002
Year of manufacture
10000
9000
8000
ATV's sold for non-recreational use
7000
6000
5000
4000
3000
2000
1000
0
1998 1999 2000 2001 2002
Year of manufacture
37
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
3.4 Target Vehicle Identification
Given the trends in UK agricultural vehicle fleet composition and usage dis-
cussed above, it appeared appropriate for this investigation to target vehicles
which were likely to be subject to high annual usage, the operators of which
therefore receiving longer exposure to whole- body vibration (WBV). Addi-
tionally, it also seemed correct to target vehicles which potentially subject
their operators to high WBV levels and/or are increasing in popularity with-
in UK agriculture. To this end the following vehicles were selected as tar-
gets for this investigation:-
Agricultural Tractors
The primary agricultural power unit and therefore a must for inclusion in the
investigation, four state-of-the-art 4wd tractors were selected from the very
popular 120 – 170 hp (90 – 125 kW) engine power range, these representing
front-line tractors from medium-large UK farms and farm contractors. The
vehicles were selected to encompass the entire range of WBV reduction fea-
tures currently available on the UK tractor market, these being:-
Unsuspended
Suspended cab
Suspended front axle & cab
Fully suspended (front and rear axle).
Self-propelled sprayers
These machines were selected due to their increasing market popularity and
high utilisation by agricultural contractors. Self-propelled sprayers have his-
torically embodied some form of axle suspension, but system complexity /
capability is increasing due to market demand for greater operator comfort /
productivity. To this end two typical (largely identical) machines were se-
lected, albeit differing in design of suspension system used, one being the
‘new, improved’ replacement of the other.
38
Chapter Three Whole-Body Vibration (WBV) On Agricultural Vehicles
39
Chapter Four Measurement Equipment
Chapter Four
Measurement Equipment
40
Chapter Four Measurement Equipment
4.1 Introduction:
In the physical, quality assurance, and engineering, measurement is the ac-
tivity of obtaining and comparing physical quantities of real-
world objects and events. Established standard objects and events are used as units,
and the process of measurement gives a number relating the item under study and
the referenced unit of measurement.
Measuring instruments, and formal test methods which define the instrument's use,
are the means by which these relations of numbers are obtained. All measuring in-
struments are subject to varying degrees of instrument error and measurement.
Scientists, engineers and other humans use a vast range of instruments to perform
their measurements. These instruments may range from simple objects such as rul-
ers and stopwatches to electron microscopes and particle accelerators.
Virtual instrumentation is widely used in the development of modern measuring
instruments.
41
Chapter Four Measurement Equipment
4.2.1 Brüel & Kjær Pulse Type-B Compact Data Acquisition Unit:
4.2.1.1 USES:
Signal and system analysis using all PULSE application packages for, or ex-
ample:
1. Time data acquisition.
2. General noise and vibration measurements.
3. Basic and advance acoustics.
4. Structural Analysis.
5. Machine Diagnostics Electroacoustic testing.
4.2.1.2 CONSTRUCTION:
42
Chapteer Four M
Measurem
ment Equ
uipment
Fig
g. 4.1
Tab
ble 4.1
4.2.1.3 FEATUR
RES:
1. C
Compact, robust
r casiing for inddustrial annd hard eveeryday use.
2. B
Battery opeerated (5 hours
h conttinuous) orr DC pow
wered (10 ~ 32 V).
3. Siilent operaation to 355°C.
4. C
Cooling fanns can be turned
t offf for silentt operation
n.
5. Syynchronouus samplinng with otther PULS
SE front-ennds.
43
Chapteer Four M
Measurem
ment Equ
uipment
R SUPPLY
4.2.1.4 POWER Y:
4.2.1.5 ACCURA
ACY, SAF ND EFFIC
FETY AN CIENCY:
W
With no inp put range to t set, youu no longeer have to worry aboout overlooads,
under raange measurements or discusssions abouut the validdation andd verificattion of
measureement resuults. And withw no neeed for triaal runs to ensure thaat the inpuut range
is correcct, you havve a far grreater certaainty of geetting meaasurementts right firrst time.
D
Dyn-X is ann innovatiive range of o state-off-the-art in
nput moduules with a single
input rannge from 0 to 10 Vpp and a usseful analyysis range exceeding g 160 dB. To
date, higgh-quality
y transduceers and preeamplifierrs have ouutperformeed measurring
equipmeent with reegard to liinearity annd dynamiic perform mance, beinng able to deliver
a noise- and distortion free signal oveer a dynam mic signall range of 120 to 1300 dB
broadbaand and 1660 dB narrrow-bandss (Fig 4.2).
Figg. 4.2
44
Chapter Four Measurement Equipment
4.2.2 Accelerometer:
Acceleration that does not change during an event including the acceleration
due to earth's gravity or the centrifugal acceleration of a merry-go-round at con-
stant rotational speed (Fig. 4.4).
Acceleration that varies over the duration of the event, but is not repetitive.
Examples include the deceleration that an automobile undergoes during braking or
the acceleration effects experienced by a roller coaster as it negotiates its track.
Transient acceleration is the result of discontinuous motion (Fig. 4.5).
Acceleration that continuously varies over the duration of the event, and is
quite repetitive. Examples include the vibration of rotating machinery such as mo-
tors and bearings or the acceleration experienced by a free-swinging pendulum. Pe-
riodic acceleration is the result of continuous motion (Fig. 4.6).
45
Chapteer Four M
Measurem
ment Equ
uipment
Fig. 4.6
4 Fig. 4.5
4
46
Chapteer Four M
Measurem
ment Equ
uipment
4.2.3 B
B&K PUL
LSE lab
bshop:
C
Complete sound annd vibratio on testingg platform
m (Fig 4.7 7) PULSE E™. The
PULSE hardwaree/software family iss your soliid foundaation upon n which too build a
system tto suit your presentt needs, and
a that caan be exteended as your y requiirements
change.
PULSE Access coomprises a series off basic anaalyzers thaat are the core of anny meas-
urementt system. These baasic analyzzer solutioons contain all you u need forr simple
a vibratiion tests, operatingg supremely as stannd-alone application
sound and a ns. They
can alsoo easily be expandedd to fit largger, industtry-specifi
fic solution
ns.
4.2.3.1 Uses an
nd Features:
1. Sppectral annalysis on up
u to six channels
c
2. Iddeal as a laaboratory or portablle field system.
3. The foundaation for a multichannnel system
4. U
Ultra-comppact system m requirin
ng only onne LAN-XI hardwarre module..
5. Siimultaneo ous multi-aanalysis using
u overrall level analysis,
a multiple
m F
FFTs and
syynthesizedd CPB anaalysis.
6. Suupports IEEEE 1451.4-capablee transducers with TEDS. T
Fig 4.7
47
Chapter Four Measurement Equipment
48
Chapter Four Measurement Equipment
Production
Manufacturer Massey Ferguson
Original price (USD) $20,500 (1974)
Model 285
Engine details
Type Diesel, 4 cylinders, liquid cooled,
2.4 L
Bore/Stroke 3.375x4.062 inches [86 x 103 mm]
Compression 7.4:1
Rated RPM 2250
Starter volts 12
Capacity
Fuel 23 gal [87.1 L]
3-Point Hitch
Rear Type II
Rear lift 4400 lbs [1995 kg]
Battery
Number 1
Volts 12
49
Chapteer Four M
Measurem
ment Equ
uipment
Power
Drawwbar 669.46 hp [51.8
[ kW]
PTO (tested)
( 8
81.96 hp [61.1
[ kW]
Mechanica
M al
Chaassis 4x4 4WD
4
D
Differentiaal rear locck standard
Steeering Hydro froont wheel
Braakes Wet disk
Cab
C Two-post RO OPS standaard.
Cabin and open operator station
s
availlable.
Hydraulic
H s
Capacity 6.6 gal [25.0
[ L]
Valves 1 too3
Presssure 2
2300 psi [158.6 bar]]
50
Chapteer Four M
Measurem
ment Equ
uipment
4.4.1 T
Tractor steering
s System:
The main problem
p w hard stteering of the drivin
was ng wheel.
After chhecking the steering system (F
Fig. 4.9) w
we found:
1. No leeakage in the feed pipes.
p
2. Leakkage with very
v small rate in thhe piston oil
o seal.
3. The pump
p is w
working.
T
The conclu usion:
There was no n steerinng fluid in the steerinng system
m.
A
After refilliing the steeering fluid the probblem was solved.
s
Fig. 4.9
4
51
Chapteer Four M
Measurem
ment Equ
uipment
4.4.2 D
Driver Seeat:
The Probleem was thhat the drriver seat is not reeady to in nstall the required
equipmeent (Fig 4..10).
To solvee this probblem we needed
n to:
1--Deattach the driverr seat from m the tracttor.
2--Attach a T shaped steel bar fixed
f withh 3 steel sccrews (Figg. 4.11).
thhe T shapeed steel baar dimensions (Fig. 4.12).
4
3--Reattach the seat with
w the T shaped baar with thee tractor.
4
4-Install thhe 2 acceleerometers on the T piece
p (Figg. 4.13).
Fig 4.10
52
Chapteer Four M
Measurem
ment Equ
uipment
Fig 4.12
4 Fig 4.111
Fiig 4.13
53
Chapter Five Experimental Results
Chapter Five
Experimental Results
54
Chapteer Five Experrimental Results
This chaapter showws vibratioon measurrements onn the seat of o the tracctor on speeeds
8,10,12 km/hr on low gear. The Expeerimental tractor doesn’t havee speedom meter,
Thereforre the reduuction ratiios were used
u to callculate thee tractor sp
peed. To ffind a
relationsship betweeen the enngine speed and the tractor speed, the foollowing ttest was
performmed in ordeer to calcuulate the to
otal reducttion ratio of
o the tracctor:
5.1 Callibration
n Of Traactor Speeed
To Calibbrate the tractor
t speeed we meeasured thee rpm of thhe wheel nw
n and thhe rpm
of the enngine ne were
w meassured.
55
Chapter Five Experimental Results
3 gear shift
low high
ne nw ne nw
1000 26.11 1000 109.29
1500 39 1500 160.43
2000 52.42 2000 216
4 gear shift
low high
ne nw ne nw
1000 31.8 1000 131.3
1500 48.4 1500 197.5
2000 63.7 2000 260.5
Table 5.1
From the above measurements the total reduction ratios can be calculated as fol-
lows:
I1L=102.3
I1H=24.7
I2L=69.7
I2H=17.1
I3L=38.3
I3H=9.25
I4L=31.27
I4H=7.63
56
Chapter Five Experimental Results
(m/s) (Km/hr)
58
Chapteer Five Experrimental Results
Fig. 5.4
5.5-Tesst 1a
D 1
DX
Gear : 3rd – Low
Speed : 1200
Sensors
5.5.1-D
DX1
Frequenncy
[dB/1.00 m/s²] A
Autospectrum( (DX1) - FFT Input
orking : Input : Input : FFT An
Wo nalyzer
20
-20
-40
-60
0 100 200 300 4
400 5
500 60
00 700 800
[
[Hz]
Fig. 5.5
59
Chapter Five Experimental Results
20
10
0
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
1
4
7
100
‐10
‐20
‐30
‐40
‐50
‐60
Fig. 5.6
Time
[m/s²] Time(DX1) - Input
Working : Input : Input : FFT Analyzer
20
10
-10
-20
0 200m 400m 600m 800m
[s]
Fig. 5.7
20
15
10
5
0
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
1
7
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐5
‐10
‐15
Total RMS=5.61m/s2
Fig. 5.8
60
Chapter Five Experimental Results
5.5.2-DX2
Frequency
[dB/1.00 m/s²] Autospectrum(DX2) - FFT Input
Working : Input : Input : FFT Analyzer
20
-20
-40
-60
0 100 200 300 400 500 600 700 800
[Hz]
Fig. 5.9
20.00
10.00
0.00
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
1
4
7
100
‐10.00
‐20.00
‐30.00
‐40.00
‐50.00
Fig. 5.10
Time
[m/s²] Time(DX2) - Input
Working : Input : Input : FFT Analyzer
20
10
-10
-20
0 200m 400m 600m 800m
[s]
Fig. 5.11
61
Chapter Five Experimental Results
15
10
0
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
1
7
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐5
‐10
‐15
‐20
Total RMS=6.22m/s2
Fig. 5.12
5.6Test 1b DX
rd
Gear : 3 – Low 1
Speed : 1200
Sensors
DX
2
5.6.1-DX1
Frequency
[dB/1.00 m/s²] Autospectrum(DX1) - FFT Input
Working : Input : Input : FFT Analyzer
-20
-40
-60
Fig. 5.13
62
Chapter Five Experimental Results
10
0
1
4
7
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
100
‐10
‐20
‐30
‐40
‐50
Fig. 5.14
Time
[m/s²] Time(DX1) - Input
Working : Input : Input : FFT Analyzer
-4
-8
Fig. 5.15
0
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
1
7
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐2
‐4
‐6
Total RMS=2.93m/s2
Fig. 5.16
63
Chapter Five Experimental Results
5.6.2-DX2
Frequency
[dB/1.00 m/s²] Autospectrum(DX2) - FFT Input
Working : Input : Input : FFT Analyzer
-20
-40
-60
Fig. 5.17
10
0
1
4
7
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
100
‐10
‐20
‐30
‐40
‐50
10
-10
-20
0 200m 400m 600m 800m
[s]
Fig. 5.19
64
Chapter Five Experimental Results
15
10
0
1
7
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐5
‐10
‐15
‐20
Total RMS=4.75m/s2
Fig. 5.20
5.7-Test 2a DX 1
Gear : 3rd – Low
Speed : 1500
Sensors
5.7.1-DX1
Frequency
[dB/1.00 m/s²] Autospectrum(DX1) - FFT Input
Working : Input : Input : FFT Analyzer
20
-20
-40
-60
0 100 200 300 400 500 600 700 800
[Hz]
Fig. 5.21
65
Chapter Five Experimental Results
10
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
1
4
7
100
‐10
‐20
‐30
‐40
‐50
‐60
Fig. 5.22
Time
[m/s²] Time(DX1) - Input
Working : Input : Input : FFT Analyzer
20
10
-10
-20
0 200m 400m 600m 800m
[s]
Fig. 5.23
20
15
10
5
0
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
1
7
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐5
‐10
‐15
‐20
‐25
Total RMS=6.90m/s2
Fig. 5.24
66
Chapter Five Experimental Results
5.7.2-DX2
Frequency
[dB/1.00 m/s²] Autospectrum(DX2) - FFT Input
Working : Input : Input : FFT Analyzer
20
-20
-40
-60
0 100 200 300 400 500 600 700 800
[Hz]
Fig. 5.25
0
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
1
4
7
100
‐10
‐20
‐30
‐40
‐50
Fig. 5.26
Time
[m/s²] Time(DX2) - Input
Working : Input : Input : FFT Analyzer
20
10
-10
-20
0 200m 400m 600m 800m
[s]
Fig. 5.27
67
Chapter Five Experimental Results
15
10
0
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
1
7
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐5
‐10
‐15
Total RMS=5.02m/s2
Fig. 5.28
DX
5.8-Test 2b 1
Gear : 3rd – Low
Speed : 1500
Sensors
DX
2
5.8.1-DX1
Frequency
[dB/1.00 m/s²] Autospectrum(DX1) - FFT Input
Working : Input : Input : FFT Analyzer
20
-20
-40
-60
0 100 200 300 400 500 600 700 800
[Hz]
Fig. 5.29
68
Chapter Five Experimental Results
10
0
1
4
7
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
100
‐10
‐20
‐30
‐40
‐50
‐60
10
-10
-20
0 200m 400m 600m 800m
[s]
Fig. 5.31
15.00
10.00
5.00
0.00
1
7
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐5.00
‐10.00
‐15.00
Fig. 5.32
Total RMS=4.31m/s2
69
Chapter Five Experimental Results
5.8.2-DX2
Frequency
[dB/1.00 m/s²] Autospectrum(DX2) - FFT Input
Working : Input : Input : FFT Analyzer
20
-20
-40
-60
0 100 200 300 400 500 600 700 800
[Hz]
Fig. 5.33
10
0
1
4
7
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
100
‐10
‐20
‐30
‐40
‐50
Fig. 5.34
Time
[m/s²] Time(DX2) - Input
Working : Input : Input : FFT Analyzer
20
10
-10
-20
0 200m 400m 600m 800m
[s]
Fig. 5.35
70
Chapter Five Experimental Results
15
10
0
1
7
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐5
‐10
‐15
Total RMS=4.58m/s2
Fig. 5.36
5.9-Test 3a DX 1
rd
Gear : 3 – Low
Speed : 1800
Sensors
5.9.1-DX1
Frequency
[dB/1.00 m/s²] Autospectrum(DX1) - FFT Input
Working : Input : Input : FFT Analyzer
20
-20
-40
Fig. 5.37
71
Chapter Five Experimental Results
30
20
10
0
1
4
7
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
100
‐10
‐20
‐30
‐40
‐50
Fig. 5.38
Time
[m/s²] Time(DX1) - Input
Working : Input : Input : FFT Analyzer
40
20
-20
-40
0 200m 400m 600m 800m
[s]
Fig. 5.39
30
20
10
0
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
1
7
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐10
‐20
‐30
‐40
72
Chapter Five Experimental Results
5.9.2-DX2
Frequency
[dB/1.00 m/s²] Autospectrum(DX2) - FFT Input
Working : Input : Input : FFT Analyzer
20
-20
-40
-60
0 100 200 300 400 500 600 700 800
[Hz]
Fig. 5.41
30
20
10
0
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
1
4
7
100
‐10
‐20
‐30
‐40
‐50
Fig. 5.42
Time
[m/s²] Time(DX2) - Input
Working : Input : Input : FFT Analyzer
40
20
-20
-40
0 200m 400m 600m 800m
[s]
Fig. 5.43
73
Chapter Five Experimental Results
30
25
20
15
10
5
0
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
1
7
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐5
‐10
‐15
‐20
‐25
DX
5.10-Test 3b 1
Gear : 3rd – Low
Speed : 1800
Sensors
DX
2
5.10.1-DX1
Frequency
[dB/1.00 m/s²] Autospectrum(DX1) - FFT Input
Working : Input : Input : FFT Analyzer
20
-20
-40
-60
0 100 200 300 400 500 600 700 800
[Hz]
Fig. 5.45
74
Chapter Five Experimental Results
30
20
10
0
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
1
4
7
100
‐10
‐20
‐30
‐40
‐50
Fig. 5.46
Time
[m/s²] Time(DX1) - Input
Working : Input : Input : FFT Analyzer
40
20
-20
-40
0 200m 400m 600m 800m
[s]
Fig. 5.47
20
15
10
5
0
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
1
7
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐5
‐10
‐15
‐20
‐25
Total RMS=9.84m/s2
Fig. 5.48
75
Chapter Five Experimental Results
5.10.2-DX2
Frequency
[dB/1.00 m/s²] Autospectrum(DX2) - FFT Input
Working : Input : Input : FFT Analyzer
20
-20
-40
-60
0 100 200 300 400 500 600 700 800
[Hz]
Fig. 5.49
20
10
0
10
13
16
19
22
25
28
31
34
37
40
43
46
49
52
55
58
61
64
67
70
73
76
79
82
85
88
91
94
97
1
4
7
100
‐10
‐20
‐30
‐40
‐50
Fig. 5.50
Time
[m/s²] Time(DX2) - Input
Working : Input : Input : FFT Analyzer
40
20
-20
-40
0 200m 400m 600m 800m
[s]
Fig. 5.51
76
Chapter Five Experimental Results
30
20
10
0
1
7
13
19
25
31
37
43
49
55
61
67
73
79
85
91
97
103
109
115
121
127
133
139
145
151
157
163
169
175
181
187
193
199
‐10
‐20
‐30
‐40
77
References
4- http://www.tractordata.com/farm-tractors/000/7/7/775-massey-ferguson-
285.html
78