拖拉机动量飞轮主动防侧翻控制与模型试验研究

Tractor Active Anti-rollover Control Using Momentum Flywheel with Experimental Verification

针对拖拉机侧翻致死致伤事故仍时有发生的问题,基于旋转刚体加速时的反向施矩原理,以反作用动量飞轮为执行元件,提出了从主动安全角度解决拖拉机侧翻问题的研究方法。通过构建拖拉机动力学系统数学模型,解析了整机侧翻行为的动态演变机理。为保证拖拉机主体结构的完整性,将动量飞轮置于拖拉机前部,取代传统静态配重的同时可主动提供防侧翻力矩。应用Matlab/Simulink软件,对反作用飞轮的回稳过程进行了基于PID控制的有效性仿真分析,同时设计并搭建了比例模型试验平台,对主动施矩飞轮的回稳控制效果进行了试验验证。结果表明,装备飞轮的拖拉机与无控制组对比,在一次试验中可多次实现整机的防侧翻控制,使整机防侧翻性能得到明显改善,且不同行驶工况下的试验数据与仿真结果的相关性较强,充分验证了本文拖拉机侧翻动力学模型的有效性。

As wheeled tractors are widely used as power machinery in agricultural activities,the lateral stability of a tractor directly affects the operation efficiency and machine safety with worldwide inevitable rollover-induced injuries and fatalities.From the perspective of active safety control,this article aims to apply the reverse moment of an accelerating momentum flywheel to the rolling tractor.In this study,we analyzed the evolution mechanism of the tractor dynamic overturning behavior by mathematical modeling.In order to keep the original configuration of the main structure of the tractor,the momentum flywheel was installed in the tractor front to replace the conventional static ballast,while it actively provided the anti-rollover torque in emergency cases.Using Matlab/Simulink,the simulation work on the effectiveness of the PID speed control was carried out.Furthermore,a scale-model experimental platform was designed to verify the flywheel-based tractor active stability control system.The results showed that the tractor equipped with a flywheel was able to regain lateral stability repeatedly in one experimental run.The test data under different driving conditions were compared with the uncontrolled group verifying the effectiveness and accuracy of the tractor dynamic model and the active control algorithm proposed in this paper.The proposed approach potentially provides theoretical basis and technical support for the extension of tractor active stability control technology.