Estimating Depth of Cut from Blade Forces on the Army Counter Obstacle Vehicle.
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.
Document Details
- Document Type
- Technical Report
- Publication Date
- Apr 01, 1988
- Accession Number
- ADA195327
Entities
People
- Gregory B. Baecher
Organizations
- Massachusetts Institute of Technology