Developing an algorithm for the dynamic stabilization of 4×4 wheel tractors with individual technical-and-economic indices when plowing on slopes

Working on slopes can reduce longitudinal and transverse stability of vehicles and tractors. In this case, the elastic pneumatic tires can slip, and the tractor can start sliding down the slope. This paper presents algorithms for the course and trajectory dynamic stabilization of a wheel tractor on a cross slope. The algorithms imply distributing the torque between the drive wheels as well as steering the driven wheels. The laws for detecting a skid of the rear or front axles of the tractor are described both for rectilinear and curvilinear motion. The techniques for adjusting the values of the torque and correcting the deviation angle of the longitudinal axis of the tractor from the direction of its motion are presented. A quantitative analysis of the effectiveness of the developed algorithms is performed. It is found that the most efficient approach involves both steering the wheels and adjusting the torque on the drive wheels of the tractor.

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