SA E TECHNICAL PA PER SERIES Development of Shoe Slip Control System for Ripping Application on Bulldozers Toshihiko Fukasawa, Teruo Nakahara, Hiroshi Itogawa, and Shigeru Tamamoto Komatsu Ltd. LIBRARY The Engineering Society *A =For Advancing Mobility sea ~lr and spacem International Off-Highway & Powerplant Congress and Exposition Milwaukee, Wisconsin September 9-1 2,1991 400 COMMONWEALTH DRIVE, WARRENDALE, PA 15096-0001 U.S.A. Downloaded from SAE International by Imperial College London, Saturday, September 08, 2018The appearance of the ISSN code at the bottom of this page indicates SAE's consent that copies of the paper may be made for personal or internal use of specific clients. Thisconsent isgiven on thecondition, however, thatthecopier pay a$5.00 per article copy fee through the Copyright Clearance Center, Inc. Operations Center, 27 Congress St., Salem, MA 01 970for copying beyond that permitted by Sections 107 or 108 of the U.S. Copyright Law. This consent does not extend to other kinds of copying such as copying for general distribution, for advertising or promotional purposes, for creating new collective works, or for resale. SAE routinely stocks printed papers for a period of three years following date of publication. Direct your orders to SAE Customer Service Department. To obtain quantity reprint rates, permission to reprint a technical paper or permission to use copyrighted SAE publications in other works, contact the SAE Publications Group. All SAE papers, standams. and selected bwks are absfracrM and rndexed m me SAE Global Mobflrly Oafabase No part of this publication may by reproduced in any form, irl an electronic retrieval system or otherwise, without the prior written permission of the publisher. Copyright 1991 Society of Automotlve Engineers, Inc. Positions and opinions advanced in this paper are those of the author(s) and not necessarily those of SAE. The author is solely responsible for the content of the paper. A process is available by which discussions will be printed with the paper if it is published in SAE transactions. For permission to publish this paper in full or in part, contact the SAE Publications Division. Persons wishing to submit papers to be considered for presentation or publication through SAE should send the manuscript or a 300 word abstract of a proposed manuscript to: Secretary, Engineering Activity Board, SAE. Printed in USA Downloaded from SAE International by Imperial College London, Saturday, September 08, 2018Development of Shoe Slip Control System for Ripping Application on Bulldozers Toshihiko Fukasawa, Terlio Nakahara, Hiroshi Itogawa, and Shigeru Tamamoto Kornatsu Ltd. ABSTRACT Operations involving excavation of bedrock in large-scale civil engineering projects, or quarrying works for limestone or crushed rock can be broadly divided into two methods: blasting, and excavation using mechanical power. Ripping operation using bulldozers is typical example of the second method, and this method is superior because it is safe and does not cause pollutions. For this reason,, its applicable range is being expanded including areas where the 'blasting method was being used. However, ripping operation using bulldozers demands a high level of training from the operator, and in addition to this, shoe slippage causes premature wear of the undercarriage and low fuel economy. The shoe slip control system that we have developed carries out sensing of the acceleration of the machine in forward and reverse directions, and sensing of the input 1 output speed of the torque converter, and in this way it always knows the traction and the slip ratio of the machine . The system then acts to control the power to a suitable lever so that it always matches the ground conditions. The realization of this shoe slip control system has brought a dramatic improvement in the life of the the undercarriage and ease of operation in the r