Drawbar-Pull Control System of a Flexible Tracked Vehicle on Weak Terrain

To establish a drawbar-pull control system to obtain a maximum productivity of a flexible tracked vehicle i.e. bulldozer running on a super weak marine sediment, the traffic performance of vehicle could be clarified by the use of a micro-computer in robotics for construction from the initial information of terrain properties and vehicle dimensions. The optimum drawbar-pull at an optimum slip ratio in dozing operation of an actual bulldozer running on a self-consolidated kaolinite clay sediment could be determined from the relation between driving force, drawbar-pull, sinkage, trim angle and slip ratio. And also, the tractive performance at braking state i.e. the relations between braking force, effective braking force, sinkage and slip ratio could be presented.