Functional Safety of the Hydraulic Drive Control System of a Tracked Undercarriage

• Autorzy: Dindorf Ryszard

Identyfikatory

DOI

10.14669/AM/178310

• Języki publikacji: EN

Abstrakty

EN

In the study, the functional safety of the hydraulic drive control system of a tracked undercarriage used as a mobile platform for a robotic bricklaying system (RBS) was evaluated. Hazards and risks caused by the hydraulic drive control system of the rubber track undercarriage were identified. The schematic diagram and main components of the conventional hydraulic drive control system of a tracked undercarriage are presented. The functions and parameters of the components of the hydraulic power and control system are discussed. In a conventional hydraulic drive, the safety function is fulfilled by failsafe brakes built into the hydraulic motors. To ensure that the RBS works safely on the construction site, it was necessary to introduce an advanced safe control system for the hydraulic drive of the tracked undercarriage. An advanced safe control system for the hydraulic drive of the tracked undercarriage includes hydraulic control valves with safety functions, a category 3 safe two-channel control architecture, and a safety microcontroller. SISTEMA software tools were utilized to determine safety functions and calculate their specifications. Based on the specifications of the safety function associated with the category of safety control architecture, the achievable performance level of the hydraulic drive control system for the tracked chassis was determined.

Słowa kluczowe

EN

functional safety; performance level; tracked undercarriage; control system; hydraulic drive

• Wydawca: Wydawnictwo Naukowe Sieci Badawczej Łukasiewicz - Przemysłowego Instytutu Motoryzacji
• Czasopismo: Archiwum Motoryzacji
• Rocznik: 2024
• Tom: Vol. 103, nr 1
• Strony: 21--37
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Dindorf Ryszard

• Kielce University of Technology, Faculty of Mechatronics and Mechanical Engineering, Al. Tysiąclecia Państwa Polskiego 7, 25-314 Kielce, Poland

• https://orcid.org/+0000-0002-2242-3288

Bibliografia

• [1] Dindorf R., Takosoglu J., Wos P., Chłopek L.: Robotic bricklaying system. Research reports. Kielce University of Technology, Kielce, Poland, 2021, (in Polish).
• [2] Dudzinski P., Kosiara A.: Innovative system for monitoring the tip over stability of mobile excavating machines on a tracked undercarriage. New Trends in Production Engineering. 2019, 2(1), 104–111, DOI:10.2478/ntpe-2019-0011.
• [3] Maclaurin B.A.: Skid steering model with track pad flexibility. Journal of Terramechanics. 2007, 44(1),95–110, DOI: 10.1016/j.jterra.2006.03.002.
• [4] Mocera F., Somà A., Nicolini A.: Grousers effect in tracked vehicle multibody dynamics with deformable terrain contact model. Applied Sciences. 2020, 10(18), 6581, DOI: 10.3390/app10186581.
• [5] Shringi A., Arashpour M., Golafshani E.M., Rajabifard A., Dwyer T., Li H.: Efficiency of VR-based safety training for construction equipment: Hazard recognition in heavy machinery operations. Buildings. 2022, 12(12), 2084, DOI: 10.3390/buildings12122084.
• [6] Tota A., Galvagno E., Velardocchia M.: Analytical study on the cornering behavior of an articulated tracked vehicle. Machines. 2021, 9(2), 38, DOI: 10.3390/machines9020038.
• [7] Wang C.C., Wang M., Sun J., Mojtahedi M.: A safety warning algorithm based on axis aligned bounding box method to prevent onsite accidents of mobile construction machineries. Sensor. 2021, 21(21),7075, DOI: 10.3390/s21217075.
• [8] Wong J.Y., Garber M., Preston-Thomas J.: Theoretical Prediction and Experimental Substantiation of the Ground Pressure Distribution and Tractive Performance of Tracked Vehicles. Proceedings of the Institution of Mechanical Engineers, Part D: Transport Engineering. 1984, 198(15), 265–285, DOI:10.1243/PIME_PROC_1984_198_155_02.
• [9] Wong J.Y., Chiang C.F.: A general theory for skid steering of tracked vehicles on firm ground. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering.2001, 215(3), 343–355, DOI: 10.1243/0954407011525683.
• [10] Zhai L, Zhang X., Wang Z., Mok Y.M., Hou R., Hou Y.: Steering stability control for four-motor distributed drive high-speed tracked vehicles. IEEE Access. 2020, 8, 9095312, 94968–94983, DOI: 10.1109/ACCESS.2020.2995520.
• [11] Zou T., Angeles J., Hassani F.: Dynamic modeling and trajectory tracking control of unmanned tracked vehicles. Robotics and Autonomous Systems. 2018, 110, 102–111, DOI: 10.1016/j.robot.2018.09.008.