Dynamic Simulator of Wheel Type Tractor Steering
نویسندگان
چکیده
There are a variety of factors affecting steering performance on off-road vehicles, including vehicle dynamics and soil stiffness. It is essential to understand the steering dynamics for designing a reasonable electrohydraulic (E/H) steering control system for wheel-type tractor. A computer-controlled E/H steering simulator, consisting of a steering actuator and a steering load simulator, is an effective tool for studying E/H controlled steering dynamics. This paper describes a computer controlled E/H steering simulator for wheel-type off-road vehicles. It consists of a digital simulation model on Matlab, an electrohydraulic actuated steering actuator, a computer controlled load simulator, and a hydraulic power unit. This simulator has been validated through comparing simulation and experimental results on its basic parameters and system characteristics. The results indicate that this simulator is capable of performing E/H steering real-time control study for wheel-type off-road vehicles.
منابع مشابه
Guidance system for agricultural tractor with four wheel steering
In a typical automatic guidance system for agricultural machines, the guidance system controls only one degree of freedom; either the steering angle of the front wheels of the tractor or other steering equipment is used for steering. In a tractor with the multiple degrees of freedom, like four wheel steering, the guidance system may use both the degrees of freedom for path tracking. However, th...
متن کاملAssessment of Dynamic Load Equations Through Drive Wheel Slip Measurement
Many parameters such as dynamic load of tractor drive wheels influence the traction of tractors. An increase in dynamic load of drive wheel increases the net traction, but excess dynamic load decreases the tractive efficiency that must be avoided. Development of tractor-mounted implements due to good maneuvering and weight transfer from front axle to rear axle led to effective performance of tr...
متن کاملLateral Control of Heavy Duty Vehicles for Automated Highway Systems
Three results pertaining to lateral control of heavy duty vehicles on Automated Highway System are presented. First, a time domain, frequency domain and pole/zero analysis of the linearized model for lateral control of tractor-trailer vehicles is presented. The steering response subject to variation of speed, road adhesion and look-ahead distance is studied. Based on the analysis, a simple base...
متن کاملA real-time recursive dynamic model for vehicle driving simulators
This paper presents the Real-Time Recursive Dynamics (RTRD) model that is developed for driving simulators. The model could be implemented in the Driving Simulator. The RTRD can also be used for off-line high-speed dynamics analysis, compared with commercial multibody dynamics codes, to speed up mechanical design process. An overview of RTRD is presented in the paper. Basic models for specific ...
متن کاملAdaptive Control of Electrohydraulic Steering System for Wheel-Type Agricultural Tractors
This paper presents an adaptive steering controller for achieving consistent, sensitive, and accurate steering control with noisy and drifting control signals on an automated agricultural tractor. Conventional model-based PID controller is difficult to solve this problem because of too many disturbances and unknown factors. The authors have developed an adaptive steering controller consisting o...
متن کامل