Authors

Abstract

The tractor working environment is complex and changeable, and the dynamic variation range of the center of gravity position of the tractor body is large. In order to avoid rollover accident, an active anti rollover control method of tractor momentum flywheel and its model test are proposed in this paper. The tractor dynamic system model and control strategy are verified by a 1:16 scale tractor model. The research results show that when the model tractor crosses the trapezoidal obstacle B, the roll angle of the whole machine is temporarily stable near 35 °, indicating that at this time, the tires on one side of the whole machine are in actual contact with the obstacle, showing a short stable state of the whole machine. When the pavement roughness reaches F-H level, without any active anti rollover control, the evaluation index EP shows a divergence trend when it is greater than 1, and the simulation calculation is terminated due to the occurrence of rollover of the whole machine. The test data and simulation results under two different driving speeds are in good agreement, which verifies the effectiveness and reliability of the tractor rollover dynamic system model and the momentum flywheel active stabilization system.

Abstract in Chinese

拖拉机作业环境复杂多变, 拖拉机机体重心位置动态变化范围较大, 为避免发生侧翻事故, 本文提出拖拉机动量飞轮主动防侧翻控制方法及其模型试验。通过1:16比例模型拖拉机对拖拉机动力学系统模型及控制策略进行验证。研究结果当模型拖拉机翻越梯形障碍B时, 整机侧倾角短暂稳定在35°附近, 说明此时整机一侧轮胎均与障碍物实际接触, 表现为短暂的整机稳定状态。当路面粗糙度进入F-H级时, 在没有任何主动防侧翻控制的条件下, 评价指标EP大于1后呈发散趋势,仿真计算均因整机侧翻的发生而终止。两种不同行驶速度工况下的测试数据和仿真结果吻合度较高, 验证了拖拉机侧翻动力学系统模型及动量飞轮主动回稳系统的有效性和可靠性。