Justification of the principles for improving stability and handling of wheel tractors when plowing on slopes

Working on slopes reduces the longitudinal and transverse motion stability of machine and tractor aggregates. In this case, the elastic pneumatic tires can slip, and the tractor can start sliding down the slope. This paper considers and analyzes the main methods of improving the stability of wheel tractors working on cross slopes. Algorithms for the dynamic stabilization of the course and trajectory motion of wheel tractors on cross slopes are presented. The main concepts of tractor control algorithms on slopes imply redistributing the torques between the drive wheels as well as steering the driven wheels. A qualitative analysis of the robustness and efficiency of the developed algorithms is performed. It is found that the most efficient approach involves both steering the wheels and adjusting the torques on the tractor drive wheels. The results of research can be used by the manufacturers of agricultural machinery for the mountain areas and may also be useful for the students of technical universities.

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