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Viewing 1 to 30 of 117
2016-04-05
Technical Paper
2016-01-1437
Giorgio Previati, Massimiliano Gobbi, Giampiero Mastinu
The paper is focused on both the the subjective and the objective ride comfort of farm tractors. The experimental measurement of the relevant accelerations occurring at the tractor body, at the cabin and at the seat was performed on a number of different farm tractors. A subjective rating of the ride confort was performed. The comfort index was computed according with ISO 2631 and other standards. The acceleration of the seated subject was computed by means of a proper mechanical model of farm tractor and derived at different positions on the subject body. It turned out that the acceleration of the lower torso was particularly relevant for establishing a matching between the subjective perception and the objective measurement and computation. A number of indices have been derived from the measured data which are able to correlate the subjective drivers' feeling with the measured accelerations.
2016-04-05
Technical Paper
2016-01-0696
Xiucheng Zhu, Lorenzo Sforza, Tejas Ranadive, anqi zhang, Seong-Young Lee, Jeffrey Naber, Tommaso Lucchini, Angelo Onorati, Muniappan Anbarasu, Yangbing Zeng
Fuel lean and exhaust gas dilution are known to increase the thermal efficiency and reduce the NOx emissions. In this study, experiments are performed to understand the effect of equivalence ratio on flame kernel formation and flame propagation around the spark plug for different low turbulent velocities. A series of experiments are carried out for propane-air mixtures to simulate engine-like conditions. For these experiments, the equivalence ratio of 0.7, 0.8, and 0.9 is tested with 20 percent mass-based exhaust gas recirculation (EGR). Turbulence is generated by a shrouded fan design in the vicinity of J-spark plug. A closed loop feedback control system is used for the fan to generate a consistent flow field. The flow profile is characterized by using Particle Image Velocimetry (PIV) technique. High-speed schlieren visualization is used for the spark formation and flame propagation.
2016-04-05
Technical Paper
2016-01-1575
Federico Ballo, ROBERTO FRIZZI, Gianpiero Mastinu, Donato Mastroberti, Giorgio Previati, Claudio Sorlini
Lightweight design and construction is (and has always been) a central task in vehicles design. Minimizing the overall mass of a vehicle means minimizing the mass of each single component. Together with mass minimization, acceptable structural performance and durability requirements have to be maintained, particularly for wheels. In this paper the lightweight design and construction of road vehicle aluminum wheels is dealt with. Dedicated experimental tests aimed at assessing the fatigue life behavior of the aluminum alloy A356 – T6 have been performed, namely, cylindrical specimens have been extracted from three different locations in the wheel. Fully reversed strain-controlled and load-controlled fatigue tests have been performed and the stress/strain-life curves on the three areas of the wheel have been computed and compared. The constant amplitude rotary bending fatigue test of the wheel has been simulated by means of Finite Element method.
2016-04-05
Technical Paper
2016-01-1576
Federico Ballo, Gianpiero Mastinu, Massimiliano Gobbi
Mass minimization is a key objective for the design of racing motorcycle wheels. The structural optimization of a front motorcycle wheel is discussed. Topology Optimization approach has been employed for deriving optimized structural layouts. The minimum compliance problem has been solved, symmetry and periodicity constraints have been considered. The wheel has been optimized considering several loading conditions. Actual loads have been measured during track tests. The forces applied by the tire to the rim have been introduced in an original way. Different solutions characterized by different numbers of spokes have been investigated and compared. The actual racing wheel -currently produced- has been further optimized accounting for technological constraints.
2016-04-05
Technical Paper
2016-01-0577
Amin Maghbouli, Tommaso Lucchini, Gianluca D'Errico, Angelo Onorati, Louis-Marie Malbec, Mark PB Musculus, W. Ethan Eagle
Extensive prior art within the Engine Combustion Network (ECN) using a Bosch single axial-hole injector called ’Spray A’ in constant-volume vessels has provided a solid foundation from which to evaluate modeling tools relevant to spray combustion. In this paper, a new experiment using a Bosch three-hole nozzle called ’Spray B’ mounted in a 2.34 L heavy-duty optical engine is compared to sector mesh engine simulations. Two different approaches are employed to model combustion: the ’well-mixed model’ considers every cell as a homogeneous reactor and employs multi-zone chemistry to reduce the computational time. The ’flamelet’ approach represents combustion by an ensemble of laminar diffusion flames evolving in the mixture fraction space and can resolve the influence of mixing, or ’turbulence-chemistry interactions,’ through the influence of the scalar dissipation rate on combustion.
2016-04-05
Technical Paper
2016-01-0003
Alberto Taraborrelli, Francesco Braghin
The main aim of our gearshifter system is lightness, compact packaging and versatility. To reach that target our solution was to develop an “Electronic, Electro-actuated gearshifter and clutch controller”. It is made of three main subsystems: shifter DC motor, clutch servo and Control Unit. The system has to be reliable, fully customizable and capable of modulating the clutch release to allow any driver to start the car without shutting off the engine. Its power consumption is 50 to 70% higher if compared to pneumatic or hydraulic shifters but it does not need to be reloaded with gas (a problem that gives a limited useful life) and there are no oil, hydraulic valves and pressurized pipes passing through the car. The engine generator can accomplish the task of charging the battery with no modifications. The whole system weights between 40 and 80% less than any other shifting system and its known that low weight means higher performances.
2016-04-05
Journal Article
2016-01-0861
Noud Maes, Nico Dam, Bart Somers, Tommaso Lucchini, Gianluca D'Errico, Gilles Hardy
The modeling of dedicated fuel sprays under well-known and relevant conditions for heavy-duty diesel engine applications, allows for complementary analyses of important phenomena aimed at improving emission formation and fuel consumption. However, the complexity of a reacting fuel spray under heavy-duty conditions prohibits direct understanding and simulation of important events. Individual contributions of spray, chemistry, and interaction with boundaries all add up to this complication. In this work, an initial transition is made from available spray models and experimental results to the desired conditions without the inclusion of chemical reactions. The use of such a systematic approach is targeting the eventual study of heat losses and spray wall interaction. Various experimental techniques are utilized to validate and characterize the inert sprays of n-dodecane in a high-pressure, high-temperature (900 K) constant volume vessel with full optical access.
2016-04-05
Technical Paper
2016-01-0965
Stefania Falfari, Giacomo Micci, Gian Marco Bianchi, Federico Brusiani, Gianluca Montenegro, Augusto Della Torre, Angelo Onorati
Metallic foams or sponges are materials with a cell structure suitable for many industrial applications, catalytic converters too. The success of these materials is due to the combination of various characteristics such as mechanical strength, low density, good thermal exchange properties and sound absorption. Different materials and manufacturing processes produce different type of structure and properties for various applications. In this work a genetic algorithm has been developed and applied to support the design of catalytic devices. In particular, two substrates were considered, namely the traditional honeycomb and an alternative open cell foam type. CFD simulations of pressure losses and literature based correlations for the heat and mass transfer were used to support the genetic algorithm in finding the best compromise between flow resistance and pollutant abatement.
2016-04-05
Journal Article
2016-01-0570
Gianluca Montenegro, Tarcisio Cerri, Augusto Della Torre, Angelo Onorati, Marco Fiocco, Davide Borghesi
The aid of CFD tools (3D and 1D) can remarkably reduce the duration and the costs of the engine prototyping stage, which could become sensibly expensive and time consuming, if many configurations have to be considered. One dimensional simulation tools are widely used during this phase and they allow the simulation of several solutions within a short time. Despite their flexibility, 1D models are tipically conditioned by the choices of the user on how to model complex shapes with equivalent 1D schematics. Since there is not a unique way to reduce a geometry to a 1D model, certain components, such as junctions, intake plenums and muffler, must be modeled resorting to tunable solutions on the basis of the operating conditions and of the particular analysis that needs to be done (acoustic or fluid dynamic study).
2016-04-05
Journal Article
2016-01-0734
Scott A. Skeen, Julien Manin, Lyle M. Pickett, Emre Cenker, Gilles Bruneaux, Katsufumi Kondo, Tets Aizawa, Fredrik Westlye, Kristine Dalen, Anders Ivarsson, Tiemin Xuan, Jose M Garcia-Oliver, Yuanjiang Pei, Sibendu Som, Wang Hu, Rolf D. Reitz, Tommaso Lucchini, Gianluca D'Errico, Daniele Farrace, Sushant S. Pandurangi, Yuri M. Wright, Muhammad Aqib Chishty, Michele Bolla, Evatt Hawkes
The 4th Workshop of the Engine Combustion Network (ECN) was held September 5-6, 2015 in Kyoto, Japan. This manuscript presents a summary of the progress in experiments and modeling among ECN contributors leading to a better understanding of soot formation under the ECN “Spray A” configuration and some parametric variants. Relevant published and unpublished work from prior ECN workshops is reviewed. Experiments measuring soot particle size and morphology, soot volume fraction (fv), and transient soot mass have been conducted at various international institutions providing target data for improvements to computational models. Multiple modeling contributions using both the Reynolds Averaged Navier-Stokes (RANS) Equations approach and the Large-Eddy Simulation (LES) approach have been submitted. Among these, various chemical mechanisms, soot models, and turbulence-chemistry interaction (TCI) methodologies have been considered.
2015-09-06
Journal Article
2015-24-2502
Yujun Liao, Panayotis Dimopoulos Eggenschwiler, Alexander Spiteri, Lorenzo Nocivelli, Gianluca Montenegro, Konstantinos Boulouchos
The injection process of urea-water solution (AdBlue) determines initial conditions for reactions and catalysis and is fundamentally responsible for optimal operation of selective catalytic reduction (SCR) systems. The spray characteristics of four, commercially available, injectors (one air-assisted and three pressure-driven with different nozzle-hole configurations) are investigated with non-intrusive measuring techniques. Injection occurred in the crossflow of a channel blowing preheated air in an exhaust duct similar configuration. The effect of several gas temperatures and flows on the spray propagation and entrainment has been extensively studied by shadow imaging. Shadow images, in addition, show that the spray of the pressure-driven injectors is only marginally affected by the gas crossflow. In contrast, the air assisted spray is strongly deflected by the gas, the effect increasing with increasing gas flow.
2015-04-14
Technical Paper
2015-01-0375
Gianluca D'Errico, Tommaso Lucchini, Gilles Hardy, Ferry Tap, Giel Ramaekers
Abstract Diesel combustion is a very complex process, involving a reacting, turbulent and multi-phase flow. Furthermore, heavy duty engines operate mainly at medium and high loads, where injection durations are very long and cylinder pressure is high. Within such context, proper CFD tools are necessary to predict mixing controlled combustion, heat transfer and, eventually, flame wall interaction which might result from long injection durations and high injection pressures. In particular, detailed chemistry seems to be necessary to estimate correctly ignition under a wide range of operating conditions and formation of rich combustion products which might lead to soot formation. This work is dedicated to the identification of suitable methodologies to predict combustion in heavy-duty diesel engines using detailed chemistry.
2015-04-14
Technical Paper
2015-01-0384
Andrea Montorfano, Federico Piscaglia, Angelo Onorati
Abstract The paper focuses on the development of a mesh moving method based on non-conformal topologically changing grids applied to the simulation of IC engines, where the prescribed motion of piston and valves is accomplished by rigidly translating the sub-domain representing the moving component. With respect to authors previous work, a more robust and efficient algorithm to handle the connectivity of non-conformal interfaces and a mesh-motion solver supporting multiple layer addition/removal of cells, to decouple the time-step constraints of the mesh motion and of the fluid dynamics, has been implemented as a C++ library to extend the already existing classes for dynamic mesh handling of the finite-volume, open-source CFD code OpenFOAM®. Other new features include automatic decomposition of large multiple region domains to preserve processors load balance with topological changes for parallel computations and additional tools for automatic preprocessing and case setup.
2015-04-14
Technical Paper
2015-01-0376
Tommaso Lucchini, Augusto Della Torre, Gianluca D'Errico, Gianluca Montenegro, Marco Fiocco, Amin Maghbouli
Abstract Prediction of in-cylinder flows and fuel-air mixing are two fundamental pre-requisites for a successful simulation of direct-injection engines. Over the years, many efforts were carried out in order to improve available turbulence and spray models. However, enhancements in physical modeling can be drastically affected by how the mesh is structured. Grid quality can negatively influence the prediction of organized charge motion structures, turbulence generation and interaction between in-cylinder flows and injected sprays. This is even more relevant for modern direct injection engines, where multiple injections and control of charge motions are employed in a large portion of the operating map. Currently, two different approaches for mesh generation exist: manual and automatic. The first makes generally possible to generate high-quality meshes but, at the same time, it is very time consuming and not completely free from user errors.
2015-04-14
Technical Paper
2015-01-1510
Edoardo Sabbioni, Davide Ivone, Francesco Braghin, Federico Cheli
Abstract Aim of this study is to analyze the benefits of the measures provided by smart tyres on tyre-road friction coefficient and vehicle sideslip angle estimation. In particular, a smart tyre constituted by 2 tri-axial accelerometers glued on the tyre inner liner is considered which is able to provide the measures of the tyre-road contact forces once per wheel turn. These measures are added to the ones usually present onboard vehicle (steer angle, lateral acceleration and yaw rate) and following included into an Extended Kalman Filter (EKF) based on a single-track vehicle model. Performance of the proposed observer is evaluated on a series of handling maneuvers and its robustness to road bank angle, tyre and vehicle parameters variation is discussed.
2015-04-14
Journal Article
2015-01-0395
Federico Piscaglia, Andrea Montorfano, Angelo Onorati
Abstract Swirling flows are very dominant in applied technical problems, especially in IC engines, and their prediction requires rather sophisticated modeling. An adaptive low-pass filtering procedure for the modeled turbulent length and time scales is derived and applied to Menter' original k - ω SST turbulence model. The modeled length and time scales are compared to what can potentially be resolved by the computational grid and time step. If the modeled scales are larger than the resolvable scales, the resolvable scales will replace the modeled scales in the formulation of the eddy viscosity; therefore, the filtering technique helps the turbulence model to adapt in accordance with the mesh resolution and the scales to capture.
2015-04-14
Technical Paper
2015-01-0228
Francesco Braghin, Francesco Salis
Abstract The objective of this study is to demonstrate the design and construction of an innovative active gear-shift and clutch for racecars, applied to a Formula Student car, based on the use of DC gear-motors. Racecars require extremely quick gear-shifts and every system to be as light as possible. The proposed solution is designed to reduce energy consumption, weight and improve gear-shift precision compared to traditionally employed electro-hydraulic solutions, although maintaining state of the art performances.
2015-04-14
Technical Paper
2015-01-0315
Francesco Braghin, Andrea Fuso, Edoardo Sabbioni, Nicola De Val
Abstract The Linear Time Varying (LTV) Model Predictive Control (MPC) is a linear model predictive control based on linearization of the nonlinear vehicle model. The linearization is carried out consideing each vehicle state. The developed model is able to steer to avoid obstacles and follow a given path. Once the optimal parameters are found, both in terms of trajectory following and real-time performances, the LTV-MPC is used for assessing the limit vehicle conditions as a function of the vehicle forward target speed, the obstacle shape as well as the road conditions (both dry and wet road conditions were taken into account). It is shown that, to avoid collisions, given performances of the vehicle brakes and of the mounted sensors are required.
2015-04-14
Journal Article
2015-01-0313
Ugo Rosolia, Francesco Braghin, Andrew Alleyne, Edoardo Sabbioni
Abstract This paper presents a nonlinear control approach to achieve good performances in vehicle path following and collision avoidance when the vehicle is driving under cruise highway conditions. Nonlinear model predictive control (NLMPC) is adopted to achieve online trajectory control based on a simplified vehicle model. GMRES/Continuation algorithm is used to solve the online optimization problem. Simulations show that the proposed controller is capable of tracking the desired path as well as avoiding the obstacles.
2015-04-14
Technical Paper
2015-01-1472
Roberto Arienti, Carlo Cantoni, Massimiliano Gobbi, Giampiero Mastinu, Mario Pennati, Giorgio Previati
Abstract The lightweight seat of a high performance car is designed taking into account a rear impact, i.e. the crash due to an impulse applied from the rear. The basic parameters of the seat structure are derived resorting to simulations of a crash with a test dummy positioned on the seat. The simulations provide the forces acting at the seat structure, in particular the forces applied at the joint between the seat cushion and the seat backrest are taken into account. Such a joint is simulated as a plastic hinge and dissipates some of the crash energy. The simulations are validated by means of indoor tests with satisfactory results. A tool has been developed for the preliminary design of lightweight seats for high performance cars.
2015-04-14
Journal Article
2015-01-1520
Massimiliano Gobbi, Giampiero Mastinu, Federico Ballo, Giorgio Previati
Abstract A wheel able to measure the generalized forces at the hub of a race motorcycle has been developed and used. The wheel has a very limited mass. It is made from magnesium with a special structure to sense the forces and provide the required level of stiffness. The wheel has been tested both indoor for preliminary approval and on the track. The three forces and the three moments acting at the hub can be measured with a resolution of 1N and 0.3Nm respectively. A specifically programmed DSP (Digital Signal Processor) embedded in the sensor allows real-time acquisition and processing of the six signals of forces/torques components. The signals are sent via Bluetooth to an onboard receiver connected to the vehicle CAN (Controller Area Network) bus. Each signal is sampled at 200Hz. The wheel can be used to derive the actual tyre characteristics or to record the loads acting at the hub.
2015-04-14
Journal Article
2015-01-1594
Johannes Edelmann, Massimiliano Gobbi, Giampiero Mastinu, Manfred Ploechl, Giorgio Previati
Abstract The friction estimation at the tire-ground contact is crucial for the active safety of vehicles. Friction estimation is a key problem of vehicle dynamics and the ultimate solution is still unknown. However the proposed approach, based on a simple idea and on a simple hardware, provides an actual solution. The idea is to compare the tire characteristic at a given friction (nominal characteristic) with the actual characteristic that the tire has while running. The comparison among these two characteristics (the nominal one and the actual one) gives the desired friction coefficient. The friction coefficient is expressed in vector form and a number of running parameters are identified. The mentioned comparison is an efficient but complex algorithm based on a mathematical formulation of the tire characteristic.
2014-10-13
Technical Paper
2014-01-2565
Harun Mohamed Ismail, Hoon Kiat Ng, Suyin Gan, Tommaso Lucchini
Abstract Modeling the combustion process of a diesel-biodiesel fuel spray in a 3-dimensional (3D) computational fluid dynamics (CFD) domain remains challenging and time-consuming despite the recent advancement in computing technologies. Accurate representation of the in-cylinder processes is essential for CFD studies to provide invaluable insights into these events, which are typically limited when using conventional experimental measurement techniques. This is especially true for emerging new fuels such as biodiesels since fundamental understanding of these fuels under combusting environment is still largely unknown. The reported work here is dedicated to evaluating the Adaptive Local Mesh Refinement (ALMR) approach in OpenFOAM® for improved simulation of reacting biodiesel fuel spray. An in-house model for thermo-physical and transport properties is integrated to the code, along with a chemical mechanism comprising 113 species and 399 reactions.
2014-04-01
Technical Paper
2014-01-0645
Gianluca Montenegro, Augusto Della Torre, Angelo Onorati, Dalia Broggi, Gerd Schlager, Christian Benatzky
Abstract This work proposes a focus on the simulation of a rotative volumetric expander via a CFD code. A customized application of OpenFOAM® has been developed to handle the particular motion of the calculation grid. The model uses a mesh to mesh interpolation technique, switching from a calculation grid to the new one on the basis of mesh quality considerations performed on the fly. This particular approach allows to account for the presence of leakages occurring between the stator and blade tips and also occurring at the top and bottom of the vanes. The fluid considered is the refrigerant R245fa, whose particular properties have been determined resorting to the NIST database. Experimental data, measured at different conditions of mass flow and fluid temperature, are compared to calculation results. Moreover, the CFD analysis has allowed the estimation of the influence of the leakage mass flow occurring at the tip of the vanes on the overall machine performances.
2014-04-01
Technical Paper
2014-01-1121
Thuong Nguyen, Peter Janas, Tommaso Lucchini, Gianluca D'Errico, Sebastian Kaiser, Andreas Kempf
Abstract In this study two different simulation approaches to large eddy simulation of spark-ignition engines are compared. Additionally, some of the simulation results are compared to experimentally obtained in-cylinder velocity measurements. The first approach applies unstructured grids with an automated meshing procedure, using OpenFoam and Lib-ICE with a mapping approach. The second approach applies the efficient in-house code PsiPhi on equidistant, Cartesian grids, representing walls by immersed boundaries, where the moving piston and valves are described as topologically connected groups of Lagrangian particles. In the experiments, two-dimensional two-component particle image velocimetry is applied in the central tumble plane of the cylinder of an optically accessible engine. Good agreement between numerical results and experiment are obtained by both approaches.
2014-04-01
Technical Paper
2014-01-1161
Donald Selmanaj, Harald Waschl, Michael Schinnerl, Sergio Savaresi, Luigi del Re
Abstract Especially in view of more and more stringent emission legislation in passenger cars it is required to reduce the amount of pollutants. In the case of Diesel engines mainly NOx and PM are emitted during engine operation. The main influence factors for these pollutants are the in-cylinder oxygen concentration and the injected fuel amount. Typically the engine control task can be divided into two separate main parts, the fuel and the air system. Commonly air system control, consisting of a turbocharger and exhaust gas recirculation control, is used to provide the required amount of oxygen and address the emission targets, whereas the fuel is used to provide the desired torque. Especially in transient maneuvers the different time scales of both systems can lead to emission peaks which are not desired. Against this background in this work instead of the common way to address the air system, the fuel system is considered to reduce emission peaks during transients.
2014-04-01
Technical Paper
2014-01-1977
Robert Golimbioschi, Giampiero Mastinu, Luca Cordioli, Massimiliano Gobbi, Davide Tagliabue, Giorgio Previati, Francesco Braga
Abstract A new electric powertrain and axle for light/medium trucks is presented. The indoor testing and the simulation of the dynamic behavior are performed. The powertrain and axle has been produced by Streparava and tested at the Laboratory for the Safety of Transport of the Politecnico di Milano. The tests were aimed at defining the multi-physics perfomance of the powertrain and axle (efficiency, acceleration and braking, temperature and NVH). The whole system for indoor tests was composed by the powertrain and axle (electric motor, driveline, suspensions, wheels) and by the test rig (drums, driveline and electric motor). The (driving) axle was positioned on a couple of drums, and the drums provided the proper torques to the wheels to reproduce acceleration and braking. Additionally a cleat fixed on one drum excited the vibration of the suspensions and allowed assessing NVH performance. The simulations were based on a special co-simulation between 1D-AMESIM and VIRTUAL.LAB.
2014-04-01
Technical Paper
2014-01-1147
Andrea Montorfano, Federico Piscaglia, Angelo Onorati
Abstract The dynamics and evolution of turbulent structures inside an engine-like geometry are investigated by means of Large Eddy Simulation. A simplified configuration consisting of a flat-top cylinder head with a fixed, axis-centered valve and low-speed piston has been simulated by the finite volume CFD code OpenFOAM®; the standard version of the software has been extended to include the compressible WALE subgrid-scale model, models for the generation of synthetic turbulence, some improvements to the mesh motion strategy and algorithms for LES data post-processing. In order to study both the initial transient and the quasi- steady operating conditions, ten complete engine cycles have been simulated. Phase and spatial averages have been performed over cycles three to ten in order to extract first and second moment of velocity; these quantities have then been used to validate the numerical procedure by comparison against experimental data.
2014-04-01
Technical Paper
2014-01-1131
Tommaso Lucchini, Marco Fiocco, Roberto Torelli, Gianluca D'Errico
The definition of a robust methodology to perform a full-cycle CFD simulation of IC engines requires as first step the availability of a reliable grid generation tool, which does not only have to guarantee a high quality mesh but also has to prove to be efficient in terms of required time. In this work the authors discuss a novel approach entirely based on the OpenFOAM technology, in which the available 3D grid generator was employed to automatically create meshes containing hexahedra and split-hexahedra from triangulated surface geometries in Stereolithography (STL) format. The possibility to introduce local refinements and boundary layers makes this tool suitable for IC engine simulations. Grids are sequentially generated at target crank angles which are automatically determined depending on user specified settings such as maximum mesh validity interval and quality parameters like non-orthogonality, skewness and aspect ratio.
2014-04-01
Technical Paper
2014-01-0874
Edoardo Sabbioni, Federico Cheli, Matteo Riva, Andrea Zorzutti
Abstract For passenger cars, individual tyre model parameters, used in vehicle models able to simulate vehicle handling behavior, are traditionally derived from expensive component indoor laboratory tests as a result of an identification procedure minimizing the error with respect to force and slip measurements. Indoor experiments on agricultural tyres are instead more challenging and thus generally not performed due to tyre size and applied forces. However, the knowledge of their handling characteristics is becoming more and more important since in the next few years, all agricultural vehicles are expected to run on ordinary asphalt roads at a speed of 80km/h.
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