AN INVESTIGATION OF LIFTING AND DISCHARGING CASSAVA ROOTS SYSTEM USING HYDRAULIC TRANSMISSION

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International Journal of Mechanical Engineering and Technology (IJMET)
Volume 9, Issue 11, November 2018, pp. 297–308, Article ID: IJMET_09_11_030
Available online at http://www.iaeme.com/ijmet/issues.asp?JType=IJMET&VType=9&IType=11
ISSN Print: 0976-6340 and ISSN Online: 0976-6359
© IAEME Publication Scopus Indexed
AN INVESTIGATION OF LIFTING AND
DISCHARGING CASSAVA ROOTS SYSTEM
USING HYDRAULIC TRANSMISSION
Tung Nguyen Dinh
Associate Professor, Director of Vietnam Research Institute Agricultural Machinery - RIAM,
No 8- Tran Phu Road- Ha Dong- Hanoi, Vietnam
ABSTRACT
This article presents results of an investigation of lifting and discharging cassava
roots from trucking system using hydraulic transmission, designed and manufactured by
the Research Institute of Agricultural Machinery (RIAM). The truck lift is tilted to a
specified angle by a hydraulic lifting gear. Hydrodynamic and simulation results are also
performed using MATLAB-Simulink to evaluate, select the structure and operation of the
system to reach the stability requirements during operation. The results of study show
that the market and application in the production of cassava-based systems with a load
capacity of up to 80 tons can be reached. The model showed that the velocity of the floor
and the angle of elevation less than 40º can satisfy the falling of the cassava/ cassava
chips. The acceleration was gradually reduced to 0, ensuring that the truck does not flip
vertically when emptying cassava materials. This lifting angle also ensures the stability
of the structure and satisfies the stable operation of the system.
Keyword: Lifting angle, Hydraulic transmission, Lifting and discharging the cassava
roots system, Modeling and simulation.
Cite this Article Tung Nguyen Dinh, an Investigation of Lifting and Discharging Cassava
Roots System Using Hydraulic Transmission, International Journal of Mechanical
Engineering and Technology, 9(11), 2018, pp. 297–308.
http://www.iaeme.com/IJMET/issues.asp?JType=IJMET&VType=9&IType=11
1. INTRODUCTION
Cassava is still widely grown in over 100 countries around the world with a variety of cultivars,
mostly in the tropical and sub-tropical climates such as africa, asia, south america and some other
countries. The united nations food and agriculture organization (fao) has declared that cassava is
one of the most important food crops in the developing world (including vietnam) after rice and
maize [1]. The main cassava cultivars of vietnam are concentrated mainly in the north central,
central coast, central highlands, south east and northern midlands and mountains [2]. The total
area of cassava in these five ecological areas accounts for 97% of the country's cassava area.
Cassava in vietnam is mainly processed into starch, especially for export starch. According to
customs statistics show that: the export of cassava starch of vietnam in recent years has grown

Tung Nguyen Dinh
rather impressive. In the past years, tapioca starch earned nearly $ 1000 million from exports, up
from the value of some other agricultural commodities [2].
At the moment, there are many industrial cassava starch processing plants in Vietnam, not to
mention small private processing establishments. But most of the industrial cassava starch
processing factories (from 400 to 500 metric tons per day) import the feedstock using
conventional trucks without "lifting", around 20 to 40 tons, and still have to use human power to
dismantle, scratch the fresh cassava into from the car to the yard of the processing plant (Figure
1). As a result, it takes a lot of effort. Economic performance is very inefficient. Moreover, the
storage time also affects the use of the yard, the quality of the powder also decreases. Starting
from this mentioned problem, the research on the design of a loading and unloading system for
the transport of cassava roots using hydraulic transmission is necessary and has scientific and
practical significance. The research results will contribute to raising the value of production and
business for enterprises.
Figure 1 Human power to dismantle, scratch cassava from the car to the yard
2. STRUCTURE AND OPERATION OF THE CASSAVA LIFTING
SYSTEM
The result of design, construction, layout of the principle, structure of lifting device, flip-flop and
hydraulic control of the system is presented in Figure 2 and Figure 3.
Figure 2 The result of selection and construction of the structural principle of the system of loading and
unloading of cassava with scale of 450-500 tons per day (in the previous state - and when operating)

An Investigation of Lifting and Discharging Cassava Roots System Using Hydraulic Transmission
Figure 3 Selection results and construction of hydraulic circuit and hydraulic control application for the
system of elevator for loading cassava with scale of 450-500 tons per day [3,4]
01- Oil tank; 02- Filter; 03, 05, 08- Valve; 06- Piston; 07- Pump.
This diagram shows that the truck carrying fresh cassava roots to the processing plant will be
moved/ lifted onto the lift-flip (lifting platform), after the "seat belt" is lifted. From an initial
angle of "00
" to a specified tilt/ lift angle (maximum) due to a hydraulic lifting mechanism.
Maximum tilting angle and floor lift speed are selected to satisfy the sloping condition of the
cassava root material and the acceleration at the end of the lifting stroke decreases to 0, ensuring
that the truck does not flip vertically when emptying cassava materials. Section 3 presents the
results of hydrodynamic hydraulic lifting dynamics survey to reach the stability operation system
requirements.
3. HYDRODYNAMIC HYDRAULIC LIFTING DYNAMICS SURVEY
3.1. Building Modeling simulation
Firstly, it is necessary to develop a simple hydraulic propulsion system to raise the floor level
when considering a cylinder-half lift structure with a piston stroke "s" as shown in Figure 4.
Figure 4 Hydraulic floor lifting plan (one cylinder-half lifting mechanism) [3,5]
- Case s a≤
Fomular of floor lifting movement:

Tung Nguyen Dinh
( )1 2 2 LJ F l K Mα α α= − −&& & (1)
Including: ( )2 1F f F= floor lifting force
K – Velocity dependent friction coefficient
cos
2
LM G
α
= (2)
1F - Thrust of the piston rod 1 1.F A p= with
1
0
1
t gQ
p dt
V β
= ∫ (3)
1gQ Calculated from the flow equation, 1 1 1gQ Q Aυ= − (4)
pQ - Flow from the pump, the pump case provides enough for 2 cylinders
1
2
p p pQ V η= (5)
Piston velocity ( )v f α= & ; volume 1 0 1V V A S= + ... with ( )S f α= can be explained in the
following block diagram:
Figure 5 Block diagram of floor-lift transmissions, case (inactive shock absorbers) [3.5]
Note: the function removes the values 0<p
* *
*
w 0
0 w 0
p hen p
p
hen p
 >
=
<
(6)
In case s a≥ , the shock absorber starts working. The displacement of the piston reaches the
volume 2V in the cylinder. The volume decreases with increasing s and the trailing flow
2 2.va A V= increases the pressure 2p
Equation of motion:
( )2 2 4 2an LJ F l M F l K Mα α α= − − − −&& &
(7)
In which: ( ) 2.an anM F lα= The elastic wavelength of the end stop plate travels to the spindle
shaft.

( ) ( )an anF f Fα = with
( )
w 0
0 w 0
w
an
an
an
c hen s
F hen s H
c s H hen s H
 ≤

= < <
 − ≥ (8)
( )4 3F f F=
with 3 2 2.F A p=
2p is calculated from the expression: 22
2.
gQdp
dt V β
= with ( )2 20 3V V A s a= − −
2 2g DrQ Q A V= −
, 2Dr Dr DrQ K A p=
(9)
The following general block diagram can be explained (Figure 6):
Figure 6 General block diagram of floor lift simulation [3,5]
To remove the pressure values <0 using the blocking function:
* *
*
w 0
0 w 0
p hen p
p
hen p
 >
= 
<
(10)
To calculate the values and set up the model "Simulink" later need to determine the
parameters through Figure 7 & 8.

Tung Nguyen Dinh
Figure 7 Diagram of the analysis to determine the force components and rotation angles on the lift floor
during work
In which:
7 3 4 5 2
0
3.12; 3.75; 0.7; 1.5; 4.5;H 0.52;
; 0.01; 9.8
12
l l l l l
K g
π
α
= = = = = =
= = =
Considering the diagram of Figure 7, we have the system of equations of the system:
Equations of motion raised floor )( 3αα =
( )αααα LMKlFJ −−= &&& 5221 cos
(11)
In which: ( ) ( ) '
212 FFfFfF xl === : floor lifting force
'
2F : Jet hinge from raised floor to wedge 1 1 1A B C be determined from the equation :
( )'
2 4 1 2sin cos cosxl RF F Fα α α= − + (12)
( )'
2 1 2
4
1
cos cos
sin
xl RF F Fα α
α
⇔ = − + (13)
1 2
4
1 2
cos cos
arctan
sin sin
xl R
xl R
F F
F F
α α
α
α α
 +
= − 
+ 
(14)
5 4α α α= − (15)
K – velocity dependent friction coefficient
αcos5GlM L = (16)
xlF
- Thrust of the piston rod
pAFxl .1=
with
1
0
1
t gQ
p dt
V β
= ∫ (17)
1gQ
calculated from the flow equation,
υ11
AQQ pg −=
(18)
pQ - flow from the pump, the pump case provides enough for 2 cylinders

ppp VQ η
2
1
=
(19)
Piston velocity ( )α&fv = ; volume SAVV 101 += with ( )αfS = .
From this we have the elevation equation:
( )2 5
1 2 5
4
cos
cos cos +Gl cos 0
sin
xl R
l
J K F F
α
α α α α α
α
+ − + =&& & (20)
( )
1 1
1 1
0 0
1 0 1
t tg p p
xl
Q V n A
F A dt A dt
V V A S
υ
β β
−
= =
+∫ ∫ (21)
Select the parameters as follows:
A1 β V0 υ Vp np
10000
mm2
10-3
mm2
/N
105
mm3
0,62
mm/s
103
mm3
9
v/p
Then:
( )
( ) ( )
3
5 30
10 2 10000 0.62
10000
10 10000 0.62 10
129032 ln 6.2 t 100 ln 100
t
xlF dt
t
π
−
× − ×
=
+ ×
= + −  
∫ (22)
Through the process of calculation and transformation we define the angles 2α , 1α , 5α , 4α
as follows:
Calculations 2α
1 7 1 2,AA l BB l= = (23)
( )
22
1 1 7 3 2A B H l l l= + + −
(24)
1 2 2 3sinB B H l α= + (25)
2 2
1 1 1 3
3
2 os arctan
H
AB BB AB BB ABc
l
α
 
= + − + 
 
(26)
2 2 2
1 2 3 2 3 3
3
2 ( ) os arctan
H
AB l l H l l H c
l
α
 
= + + − + + 
 
(27)
2 31 2
1 2
1 2 2 2
2 3 2 3 3
3
sinˆ arcsin arcsin
2 ( ) os arctan
H lB B
B AB
AB H
l l H l l H c
l
α
α
+
= =
 
+ + − + + 
  (28)
2 2 2
1 1 1 1
1 1
1 1
ˆ arccos
2 .
AB AA A B
B AA
AB AA
 + −
=  
 
(29)

Tung Nguyen Dinh
( )
22 2 2 2 2
2 3 2 3 3 7 7 3 2
3
1 1
2 2 2
7 2 3 2 3 3
3
2 ( ) os arctan
ˆ arccos
2 2 ( ) os arctan
H
l l H l l H c l H l l l
l
B AA
H
l l l H l l H c
l
α
α
 
+ + − + + + − − + − 
 =
 
+ + − + + 
 
(30)
2 3 2 7 3 7 2 3 3
3
1 1
2 2 2
7 2 3 2 3 3
3
( ) os arctan
ˆ arccos
2 ( ) os arctan
H
l l l l l l l l H c
l
B AA
H
l l l H l l H c
l
α
α
 
+ − − + + 
 =
 
+ + − + + 
 
(31)
2 1 2 1 1
ˆ ˆB AA B AAα⇒ = − (32)
2 3
2
2 2 2
2 3 2 3 3
3
2 3 2 7 3 7 2 3 3
3
2 2 2
7 2 3 2 3 3
3
sin
arcsin
2 ( ) os arctan
( ) os arctan
arccos
2 ( ) os arctan
H l
H
l l H l l H c
l
H
l l l l l l l l H c
l
H
l l l H l l H c
l
α
α
α
α
α
+
=
 
+ + − + + 
 
 
+ − − + + 
 −
 
+ + − + + 
 
(33)
Calculations 1α
( )
( )
2
7 3 7 2 3 2 7 2 3 3
3
1 1 22
7 7 3 2
cos arctan
ˆ arccos
H
l l l l l l l l l H
l
AA B
l H l l l
α
  
+ − − + + +  
  =
 
+ + −  
  (34)
( )
2
2
7 4
0
2
1 1
4 2tan
AC
H H
l l
α
 
= + − − 
 
(35)
( )
22
7 3 2
1 1 1 2
2
7 4
0
1ˆ arccos
2
4 2tan
H l l l
B AC
H H
l l
α
 
 
+ + − 
=  
  + − −    
(36)
1 1 1 1 1 1 1 2
ˆ ˆ ˆC A K C A B B A A α= + − (37)

( )
( )
( )
22
7 3 2
2
2
7 4
0
2
7 3 7 2 3 2 7 2 3 3
3
2
1
22
1
7 7 3 2
1
arccos
2
4 2tan
cos arctan
arccos
ˆ H l l l
H H
l l
H
l l l l l l
C
l l l H
l
l H
A K
l l l
α
α
α
 
 
+ + − 
=  
  + − −    
  
+ − − + + +  
  + −
 
+ + −  
 
(38)
( )2 7 2 4 1 1 1 1
ˆcos cosCC l l AC C A Kα= − − (39)
( )1 2 7 2 1 1 1 1
ˆsin sinC C l AC C A Kα= + (40)
( )
( )
7 2 1 1 1 1
1 2
1
2 7 2 4 1 1 1 1
ˆsin sin
arctan arctan
ˆcos cos
l AC C A KC C
CC l l AC C A K
α
α
α
⇒
+
= =
− −
(41)
Calculations 5α
5 3 4α α α= −
(42)
3.2. Structural lift survey
From the above mathematical relationships, we can build a block diagram for the model as shown
in Figure 5, Figure 6, where we can construct the Matlab-Simulink diagram to solve the problem
as shown in Figure 8.
Figure 8 Matlab-Simulink diagram to solve the bridge overturning problem
After solving the problem with Matlab-Simulink, we obtained the results of the lifting angle
functions ( )tα , the angular velocity over time ( )tω and the angular velocity over time ( )tγ . Results
are represented in from Figure 9 to Figure 12.

Tung Nguyen Dinh
Figure 9 Lifetime angle graph ( ) ( )t radα
Figure 9 shows that in the period from 155 – 157.25 (s), the alpha spin angle is quickly
increased. In fact, when the cylinder is working it takes a while to reach the working pressure, so
the floor starts to rise from t=155 (s). The maximum inclination of the floor during the lifting
process is 0,677 (rad) (approximately 38,79o
). The results of calculations are in line with reality.
Figure 10 Radial velocity (rad)
t
155 155.5 156 156.5 157 157.5 158 158.5 159 159.5 160
0.48
0.5
0.52
0.54
0.56
0.58
0.6
0.62
0.64
0.66
0.68
w(t)

Figure 11 Trajectory of the structure
At time 0 – 146.75 (s), the angular velocity ( )tω increases due to load loading and decreases
rapidly as the load decreases (Figure 10). This result is reasonable due to the fact that the lift-and-
lift structure has a trajectory of motion, which is the combination of many complex movements
of the cylinder-lift-knee mechanism as shown in Figure 11. During the lift, max 0.1481 ( / )rad sω =
the time of 146.75 (s), near the time maxα .
Figure 12. The graph is accelerated by time 2
( ) (rad/ s )tγ
From Figure 10 and Figure 12, we find 145.75 (s), 146.75 (s) and 149.4 (s). The values of
velocity and acceleration change significantly, reflecting the complexity of the lifting movement,
which directly affect the flip stability and longevity of the machine during operation. Therefore,
the rigid design of the structure is extremely necessary.

Tung Nguyen Dinh
4. CONCLUSION
The study results show the market and application of this system in the production of cassava/
cassava-based / tapioca systems with a load capacity of up to 80 tons.
The model showed that the velocity of the floor and the angle of elevation less than 40º can
satisfy the falling of the cassava/ cassava chips. The acceleration was gradually reduced to 0,
ensuring that the truck does not flip vertically when emptying cassava materials. This lifting angle
also ensures the stability for the structure and satisfies the stable operation of the system.
REFERENCES
[1] http://www.fao.org/faostat/en/?#data/QC
[2] http://cafef.vn/hon-80-luong-san-va-san-pham-san-xuat-khau-sang-trung-quoc-
2018062218065086.chn.
[3] Bui Hai Trieu, Nguyen Dinh Tung. Hydraulic transmission and control applications.
Scientific and Technical Publishing House , 2018, pp. 235.
[4] Holger Watter, Hydraulik und Pneumatik. Grundlagen und Uebungen- Anwendungen und
Simulation, 2 Auflage. Vieweg & Teubner Verlag (Studium Buch), 2008, pp. 185.
[5] Bui Hai Trieu, Nguyen Dinh Tung. Modeling and Simulation of Mechanical Engineering
Systems. Agricultural publisher, 2015, pp. 85.

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