Fasting the stabilization response for prevention of tractor rollover using active steering: Controller parameter optimization and real-vehicle dynamic tests

被引：20

作者：

He, Zhizhu ^{[1
,2
]}

Song, Zhansheng ^{[1
,2
,3
]}

Wang, Longlong ^{[1
,2
]}

Zhou, Xu ^{[1
,2
]}

Gao, Junxiao ^{[1
,2
]}

Wang, Kangda ^{[1
,2
]}

Yang, Minli ^{[1
,2
]}

Li, Zhen ^{[1
,2
]}

机构：

[1] China Agr Univ, Coll Engn, Beijing 100083, Peoples R China

[2] China Agr Univ, Ctr Agr Flexible Elect Technol, Beijing 100083, Peoples R China

[3] Xinxing Cathay Intelligent Equipment Technol Co Lt, Beijing 100026, Peoples R China

来源：

COMPUTERS AND ELECTRONICS IN AGRICULTURE | 2023年 / 204卷

基金：

中国国家自然科学基金;

关键词：

Tractor rollover; Active control; Active steering; Sliding mode control; Real vehicle test; PHASE-I OVERTURN; AGRICULTURAL TRACTOR; MODEL; STABILITY; VALIDATION; POSITION; SYSTEM; INDEX;

D O I：

10.1016/j.compag.2022.107525

中图分类号：

S [农业科学];

学科分类号：

09 ;

摘要：

The rollover problem is prominent for a small tractor under complicated road conditions. The application of active steering (AS) technology is an effective approach to solve this problem. A lateral stability index based on the critical position is proposed and improved. Sliding mode control (SMC) technology based on an exponential terminal sliding mode surface is studied by considering the parameter changes and external disturbances in the rollover process of the tractor, which further accelerates the system's response speed. A real vehicle test platform was built taking into account the limitations of the few real vehicle dynamic tests in current studies. Real vehicle dynamic tests with varying speeds, slopes, and obstacles were conducted for various road pavements and typical off-road pavements. For road pavements, the results demonstrated that the maximum roll angle of the tractor was 15.94 % less than with that under uncontrolled. For typical off-road pavements, AS control effectively restrained rollover accidents under non-extreme conditions, and SMC reduced the time the tractor was in the critical rollover region by 35.98 % on average compared with PID control. The stability region boundary of a small tractor was defined, and the stable driving region of a tractor on various slopes is obtained. This study provides a specific theoretical basis and implementation plan for guiding the research of tractor active safety technology.

引用

页数：17

共 51 条

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