Results of HCT- vehicle combinations Mauri Haataja, professor Research group: Miro-Tommi Tuutijärvi, Researcher, Doctoral student Project Manager Perttu Niskanen, Doctoral student Researcher Ville Pirnes Professor Mauri Haataja, ADR-SEMINAARI 23. November 2017 Kuljetuskuutio, Helsinki
Topics Experimental Methods of HCT- vehicle combinations - Multibody dynamics, modeling and simulation of HCT-vehicle combinations by Adams-program - Lateral Stability on Road - Drawbar measurements - Tire research on driving dynamics and tires - Optimized dimensioning of vehicle combinations - Road Measurement - Conclusions Professor Mauri Haataja, ADR-SEMINAARI 23. November 2017 Kuljetuskuutio, Helsinki 2
Total mass 76 tons High Capacity Transport (HCT) trials in Finland Driven truck 42 tons, Trailer 42 tons Total mass 84 tons HCT-vehicle combinations: Transport Ketonen, Kemijärvi, Finland Technical dimensions of Timber Vehicle Combination Number of axles: 13-axles Truck: 4-axles, (8x4) with driven tandem axles 4-axles semi-trailer, 5 axles full trailer Total weight: 104 tons, Payload of timber: 78 tons, length 32m Transport: Ivalo-Rovaniemi- Road Network Reference timber vehicle combination: Truck+semitrailer +full trailer (76 tons) HCT-vehicle combinations exceed the maximum allowed dimensions and/or weight limits in Finland Currently the maximum allowed length is 25,25 m and the maximum allowed weight is 76 tons for a vehicle combination in Finland HCT- vehicle combinations operate on specified routes, which have permission by Road Administration. The HCT-vehicle combination trials in Finland have been ongoing since 2013 and has been researching HCT- vehicle combinations since 2013 The goal of the HCT- vehicle combination research is to improve energy efficiency, to reduce emissions of the transports and to develop technology related to largerthan-usual vehicles Research at the focuses in evaluating and improving the traffic safety of different types of vehicle combinations and studying the effect on road wear with HCT- vehicle combinations 3 Professor Mauri Haataja, ADR-SEMINAARI 23. November 2017 Kuljetuskuutio, Helsinki
Transport company Validation method of HCTvehicle combinations in Finland Apply for a trial permit based on needs of the customers and to develop transport Trafi Grant of trial permit for the HCT vehicle combination in question / request for changes Evaluation of traffic safety and suggest changes if no satisfactory Transport companies can apply for a permit for the trial use of a HCT- vehicle combination from the Finnish Transport Safety Agency, Trafi In order to get the permit granted, the transport companies have to justify the necessity of the vehicle combination based on the needs of their customers and on the possibility to study different kinds of HCT- vehicle combinations If the HCT-vehicle combination differs greatly from other HCT vehicle combinations, the traffic safety of the vehicle combination has to be evaluated This results in variety of vehicle combination types under HCT trial permit 4 Professor Mauri Haataja, ADR-SEMINAARI 23. November 2017 Kuljetuskuutio, Helsinki
Performance Based Standards of HCT-vehicle combinations Performance Based Standards (PBS) in Finland Traffic safety: - How stability should be assessed? - What limits should be fulfilled Startability Maneuverability: - Different levels of turnability? - Where different HCT vehicles can operate? Gradeability Performance based standards (PBS) are needed for longer and heavier HCT-vehicle combinations PBS Scheme could include the tests and limits to be fulfilled in order to get transport permit for specific vehicle combinations The road and weather conditions and road infrastructure make their own unique challenges for HCT- vehicles in Finland Research questions for PBS in Finland: - What tests should PBS Include in Finland? - What are the limits to be fulfilled in these tests? - What kind of HCT- vehicle combinations should be developed? - Should PBS have different levels for different lengths of HCT vehicles? (Roads specified for different levels of HCT vehicle combinations based on stability and maneuverability) - Which tires should be used in HCT- vehicle combinations to fulfill the requirements in different conditions? - PBS-research project plan between Univ. Of Oulu, Chalmer s Univ. of Technology and VTI-research unit in Sweden. 5 Professor Mauri Haataja, ADR-SEMINAARI 23. November 2017 Kuljetuskuutio, Helsinki
Research on driving dynamics and tires Driving dynamics and stability of HCT- vehicle combinations are studied with experimental methods (full scale vehicle tests) and simulation models Both are used to evaluate traffic safety of HCT vehicle combinations Simulation models are cost effective and safe when studying the effect of dimensioning changes and different tires on the stability of vehicle combination in critical maneuvers Data from full scale vehicle tests is used to validate the simulation models To improve the accuracy of simulation models and to research tire effects on stability, accurate tire models are needed 6 Professor Mauri Haataja, ADR-SEMINAARI 23. November 2017 Kuljetuskuutio, Helsinki
Modeling principles Adams-modeling and simulations Rigid frames for vehicle units Coupling of vehicle units kinematic Vehicle units sprung, springs modeled as Adams/CAR air springs Subsystems of vehicles based on measurements from studied vehicles Tire model PAC2002 (Magic Formula) for pur longitudinal and lateral slip, tire model fitted based on measured tire force at tire force measuring laboratory Mass moments of inertia for vehicle units estimated based on geometry and masses of vehicles Mass moment of inertia for load based on geometry and density Simulation models to be validated based on measurements from full scale vehicle tests 7 Professor Mauri Haataja, ADR-SEMINAARI 23. November 2017 Kuljetuskuutio, Helsinki
y [m] Lateral acceleration [m/s^2] Tests Used in Simulations and driving test on the field Double lane change according to ISO 3888-1 Single lane change and single sine wave steer input tests according to ISO 14791 Pulse steer input test according to ISO 14791 1,8 1,6 1,4 1,2 1 0,8 0,6 0,4 0,2 0 ISO 14791 SLC path 0 50 100 150 200 250 x [m] SLC path lateral acceleration 1,5 1 0,5 0 0 50 100 150 200 250-0,5-1 -1,5 x [m] 8 Professor Mauri Haataja, ADR-SEMINAARI 23. November 2017 Kuljetuskuutio, Helsinki
Stability distribution of lateral accelerations Results measured in January and February 2017, loaded HCT-vehicle combinations Accelerations in 104 t HCT-vehicle combination have distributed in larger area Similar distributions in other months as well P&A Trans Oy, 84 t HCT-combination 9 11/28/2017 Ketosen Kuljetus Oy, 104 t HCT-combination
The occurrence of lateral accelerations as a function of different frequencies Results from September 2016, on highway Acceleration gain calculated from the first axle to the last axle of combinations 104 t HCT-vehicle combination has largest gain 10 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Force Measurements in Drawbar and Fifth wheel constructions Strain gages for longitudinal and lateral forces - Measurement of normal and bending strains - 4 gages for a direction => temperature effects and unwanted strains are compensated 11 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Drawbar forces low frequencies Forces divided to low frequency (below 0,3 Hz) and high frequency (0,3-10 Hz) forces - Low frequency forces are caused by vehicle pulling forces, vehicle braking and tractive resistances, high frequency forces are mostly caused by irregularities in the road Kuljetusliike O Malinen, 76 t combination Kuljetusliike O Malinen, 84 t HCT-combination P&A Trans, 84 t HCT-combination 12 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Drawbar forces high frequencies Quite similar distributions Kuljetusliike O Malinen, 76 t combination Kuljetusliike O Malinen, 84 t HCT-combination P&A Trans, 84 t HCT-combination 13 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Drawbar forces Quite similar distribution in higher frequencies with other combinations More deviation in lower frequencies 14 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Mobile Tire Research on the Testing Platform Tire characteristics, such as cornering stiffness and peak friction coefficient of the tire determine behavior of vehicle combination To research tires, a mobile tire testing platform is being developed and build in the University of Oulu Research project of Validation Methods cooperation with Univ. Of Oulu, Chalmer s Univ. Of Tech. and VTI-research unit in Sweden 2018-19 Some specifications: - Tire rim sizes of 19,5 and 22,5 - Tire diameters between 800 and 1300 mm - Tire width up to 455 mm - Up to vertical loads of 60000 N (around 1,5 times of truck tire nominal load) - Slip angles between -45 to 45 degrees Mobile tire testing platform can be used to research the effect of tire structures on tire force development and to compare different types of tires in different driving platforms reliably With mobile tire testing platform, measurements can be done on snow and ice, not in asphalt only 15 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Research on driving dynamics and tires Data from the experimental tire force measurements is used to make tire models of different tires Tire models with simulation models can be used to study the effect of tires on different driving platforms on the whole vehicle combination Compared to full scale vehicle tests, use of simulation models is more cost effective and safe 16 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Dimensioning of vehicle combinations Examples: Three jointed combinations Tractor, semitrailer and full trailer (Adouble) Tractor, link trailer, semitrailer and centre axle trailer (the so-called. C-train) Tractor, two link trailers and semitrailer (B-triple) Truck, dolly, link trailer and semitrailer (similar to Swedish ETT combination) Truck, full trailer and centre axle trailer 17 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Example: Four jointed vehicle Tractor, semitrailer, dolly, link trailer and combination semitrailer (AB-triple) Truck and two full trailers Tractor, dolly, two link trailers and semitrailer (ETT combination with extra link trailer) 18 Professor Mauri Haataja, ADR-SEMINAARI 23. November 2017 Kuljetuskuutio, Helsinki
Results of Simulated Vehicle Combinations Exaggerated coupling dimension changes for demonstration purposes YAW rate RA values from ISO 14791 single lane change test original 1,82 2,06 3,93 1.0 m increased coupling distance + drawbar length between truck and FT 1,58 1,78 3,24 1.0 m increased coupling distance + drawbar length between FT and CAT 1,82 1,95 3,03 1.0 m increased coupling distance + drawbar length between truck and FT and FT and CAT 1,59 1,69 2,55 0 1 2 3 4 5 RA FT bogie FT CAT 19 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Stresses and strains in road structures Asphalt-coated roads Gravel coated roads Road Measurements 2017 / Department of Mechanical Engineering / Mauri Haataja 11/28/2017
Instrumented roads Vuotso (thick-coated asphalt road) - Kuusikiekeröntie 213 - Only little traffic Vuojärvi (thick-coated asphalt road) - Rovaniementie 4306 - Emergency landing place - Busy, lot of traffic - Extra strong road structure Rovaniemi (thick-coated asphalt road) - Isoaavantie 7 - Busy, lot of traffic - Reinforced ground Oulu-Ylikiiminki (gravel road 1) - Tervasmaantie 84 (Takasuo) - Road used by cottagers but also in peat transport Kuhmo (gravel road) - Korpikoskentie 521 - Road used by cottagers but also in timber transport - The results reports in 2018 21 Professor Mauri Haataja, ADR-SEMINAARI 23. November 2017 Kuljetuskuutio, Helsinki
Measurements in asphalt-coated roads 1) Measurements during stretch of the road (200 400 meters). Measurements performed in van following vehicle combinations The vehicle combinations used were in asphalt-coated roads: 1) 104 tons of weight and 13-axis HCT forest vehicle combination 2) 84 tons of weight and 10-axis HCT forest vehicle combination 3) 64 tons of weight and 7-axis forest vehicle combination 2) Measurements in instrumented measurement point Water movement in road structures (radar) Compressions in coated surface (Strains) (15 pieces) Rutting (laser scanning) 22 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Measurements in gravel-coated roads 1) Measurements during stretch of the road (250 300 meters). Measurements performed in van following vehicle combinations In gravel coated roads the used vehicle combinations were: 1) 84 tons of weight and 10-axis HCT forest vehicle combination 2) 76 tons of weight and 9-axis forest vehicle combination (owner: O Malinen Oy), and 3 & 4) 60 tons of weight and 7-axis forest vehicle combination 2) Measurements in instrumented measurement point Porous water pressure (4 sensors in different depths) Water movement in road structures (radar) Earth pressure (2 sensors in different depths) Rutting (laser scanning) 23 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Conclusions HCT research project has produced new information on the driving behavior and traffic safety of HCT-vehicle combinations under arctic conditions Traffic safety is comparatively satisfactory for traditional vehicle combinations Dimensioning of vehicle combinations should be further developed in cooperation with traffic safety agency and transport companies Performance based standards are needed for longer and heavier HCT vehicle combinations in case of legislation changes Mobile tire testing platform can be used to get new research data on heavy vehicle tires and their effect on the driving dynamics on the vehicles and vehicle combinations HCT- applied roads and bridges life cycle durability is under research The HCT study is expected to report in 2018. 24 11/28/2017 / Department of Mechanical Engineering / Mauri Haataja
Thank You for Your Attention! mauri.haataja@oulu.fi +358 294 482 082 Professor Mauri Haataja, ADR-SEMINAARI 23. November 2017 Kuljetuskuutio, Helsinki