An algorithm for the dynamic stabilization of a tractor by controlling the mechanical transmission differentials and corrective steering

The curvilinear motion and work on slopes reduce the longitudinal and transverse stability of tractors. In this case, the breakaway of elastic pneumatic tires occurs, which causes deviations of the tractor trajectory. The influence of the drive type on the stability of a curvilinear motion of wheeled tractors working on slopes is considered. The main advantages and disadvantages of differential and locked drives are analyzed. Algorithms for the dynamic stabilization by controlling the mechanical transmission differentials and by the corrective steering of steerable wheels are developed. The effect of the joint and isolated application of the algorithms for controlling differentials and wheel steering on the stability of motion of the wheeled tractor is estimated. The results of mathematical modeling are described and analyzed. It is found that steering steerable wheels improves stability and handling of tractors on slopes, while locking differentials produces the effect of the blocked transmission.

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