Real time pull-slip curve modeling in large track-type tractors

摘要

A method of estimating soil conditions of a work surface (22) during operation of a track-type tractor (10) measures current operating conditions and current operating state to develop adjustments to a nominal pull-slip curve (152). The adjusted pull-slip curve is used to calculate optimum performance in terms of an input variable such as track speed. Two factors are developed to reflect soil conditions, coefficient of traction 120 and a shear modulus adjustment 122 that affect different portions of the nominal pull slip curve (152).