An experimental study of tractor stabilization efficiency on scale models working on slopes in the plowing mode

When a tractor unit is moving or performing work operations on slopes, its longitudinal and lateral stability decreases. It becomes less maneuverable and controllable and may deviate from a desired trajectory. Therefore, design and implementation of dynamic stabilization systems improving the wheel tractor’s longitudinal and lateral stability becomes a highly relevant task. When designing new vehicles, it is often needed to test certain technical solutions not only by simulation but also by prototyping. However, prototype field tests are complicated by being expensive in time and material resources. This problem can be solved by conducting experiments on scaled models as long as the movements of the real object are very accurately reproduced. The paper describes the methodology of experimental development of the algorithms for the dynamic stabilization system of a wheel tractor unit. The scaled model was test run on lateral sloped unpaved ground on a test stand, and deviation of the actual trajectory from the ideal one was measured. The tests were conducted with steering and without. Comparison of the results showed the effectiveness of the proposed algorithms of dynamic stabilization.

References

[1] Sharipov V.M., Apelinskii D.V., Arustamov L.Kh., Bezrukov B.B. Traktory. Konstruktsiia [Tractors. Design]. Moscow, Mashinostroenie publ., 2012. 790 p.

[2] Shipilevskii G.B., Arkhipov V.S. Perspektivy razvitiia diagnostiki tekhnicheskogo sostoianiia traktorov na osnove bortovykh elektronnykh sredstv [Prospects for the development of diagnostics of technical condition of tractors on the basis of airborne electronic aids]. Traktory i sel’skokhoziaistvennye mashiny [Tractors and agricultural machinery]. 2004, no. 7, pp. 3–8.

[3] Mamiti G.I., L’ianov M.S., Pliev S.Kh., Salbieva Z.S. Ustoichivost’ kolesnogo traktora v povorote [Stability of wheel tractor on the turn]. Traktory i sel’khozmashiny [Tractors and agricultural machinery]. 2011, no. 8, pp. 18–21.

[4] Liebman M., Mohler Ch., Staver Ch. Ecological management of agricultural weeds. Cambridge University press, Cambridge, UK. 2004. 532 p.

[5] Gol’tiapin V.Ia. Sovremennye traktory zarubezhnykh firm [Modern tractors foreign firms]. Traktory i sel’skokhoziaistvennye mashiny [Tractors and agricultural machinery]. 2004, no. 5, pp. 39–54.

[6] Ryu J., Gerdes J.C. Estimation of vehicle roll and road bank angle. Proceedings of the American Control Conference, 2004, vol. 3, pp. 2110–2115.

[7] Rodrigues A.O. Evaluation of an active steering system. Master’s degree project. Sweden, 2004. Available at: http://people.kth.se/~kallej/grad_students/rodriguez_orozco_thesis04.pdf (accessed 1 December 2014).

[8] Mammar S., Baghdassarian V.B. Two-degree-of-freedom formulation of vehicle handling improvement by active steering. Proceedings of the American Control Conference, 2000, vol. 1, pp. 105–109.

[9] Chizhov D.A., Gorelov V.A., Kotiev G.O. Laboratornyi raschetno-eksperimental’nyi kompleks dlia issledovaniia tiagovo-energeticheskikh svoistv kolesnykh dvizhitelei [Laboratory experiment-calculated complex for the investigation of traction and power properties of wheeled mover]. Traktory i sel’khozmashiny [Tractors and agricultural machinery]. 2012, no. 4, pp. 21–27.

[10] Orlov A.I. Prikladnaia statistika [Applied Statistics]. Moscow, «Ekzamen» publ., 2006. 672 p.[11] Orlov A.I. Veroiatnost’ i prikladnaia statistika: osnovnye fakty: spravochnik [Probability and Applied Statistics: Key Facts: A Guide]. Moscow, KNORUS publ., 2010. 192 p.