Accession Number : ADA195327
Title : Estimating Depth of Cut from Blade Forces on the Army Counter Obstacle Vehicle.
Descriptive Note : Final rept.,
Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE
Personal Author(s) : Baecher, Gregory B
PDF Url : ADA195327
Report Date : Apr 1988
Pagination or Media Count : 49
Abstract : The Counter Obstacle Vehicle (COV) is a heavyweight bulldozer-type vehicle used for earthwork and general obstacle removal in military operations. Microprocessor-based controls have been considered for use on the vehicle to automate blade control and the enhance operator performance. This study evaluates the feasibility of using blade force measurements for controlling the depth of cut in real-time operation of the COV. This method of depth control is significantly limited because the variability of natural soil deposits causes the blade force to vary over time. To account for this, the study used random process (i.e., stochastic) models of soil variation based on empirical data to simulate natural deposits. Blade forces as the COV plowed through the simulated soils were calculated using soil mechanics models. Kalman filtering and optimal control techniques were used to adjust depth of cut based on measured blade force. Study results suggest the blade force variability may not be as great an obstacle to the use of force feedback for blade control as previously thought. Keywords: Counter obstacle vehicle, Minesweepers, Control systems, Depth control.
Descriptors : *BLADES, *DEPTH CONTROL, *EARTHWORK, *SOIL MECHANICS, CONTROL, CONTROL SYSTEMS, CUTTING, DEPOSITS, DEPTH, FEEDBACK, FORCE(MECHANICS), KALMAN FILTERING, MEASUREMENT, MICROPROCESSORS, MILITARY OPERATIONS, MINESWEEPERS, OPERATION, OPERATORS(PERSONNEL), OPTIMIZATION, PERFORMANCE(HUMAN), REAL TIME, SIMULATION, SOIL MODELS, SOILS, VARIATIONS
Subject Categories : Soil Mechanics
Construction Equipment, Materials & Supplies
Distribution Statement : APPROVED FOR PUBLIC RELEASE