Sep 2026· Journal of Science and Technique· 0 citations
Abstract
Operating agricultural tractors on side slopes causes dynamic weight transfer, asymmetrically degrading the tires' lateral grip according to the Pacejka characteristics. This disparity generates a Yaw moment, causing the vehicle to slip laterally, deviate from its trajectory, and face rollover risks. This article proposes a trajectory stabilization solution using an independent 4-cylinder active suspension system to automatically level the chassis. A 6-Degree-of-Freedom (6-DOF) full-vehicle mathematical model integrating hydraulic dynamics is established. To address the cross-coupling interactions among the suspension corners, a control allocation algorithm combined with PID loops is applied to accurately regulate four proportional valves. A digital twin is built on the Simcenter Amesim platform for validation. Under a 10 km/h scenario on a 20° slope, simulations show the system successfully maintains the chassis roll angle at approximately 0°, eliminating lateral weight transfer and restoring grip to all four tires. Consequently, lateral trajectory deviation is drastically reduced from 8 m to ±0.15 m, ensuring absolute directional stability for the tractor.
Tractor rollover is a persistent worldwide problem that does not yet have a fundamental solution. Adjusting the tractor’s attitude or configuration may enhance mobility under complex terrain conditions to prevent rollover. Therefore, in this study, an attitude adjustment method for offsetting the height difference betw...
This paper proposes a control strategy for path following that is model-free and relies solely on deceleration for skid-steering planetary rovers navigating deformable loose terrain under continuously imposed traction asymmetry. While conventional controllers that are based on kinematics frequently cause slip-sinkage e...
Ryuya Matsuoka, Keisuke Takehana, Kentaro Uno et al.· 0 citations
Tailless underactuated hypersonic glide vehicles rely on elevons alone to control both roll and yaw. The dual-loop cascade architecture, in which differential elevon deflection regulates sideslip and the resulting sideslip response drives roll, exploits the high roll-to-yaw ratio to address lateral–directional underact...
Zhao-Kai Yu, Chen-Yang Song, Kai Liu et al.· Aerospace· 0 citations
Articulated steering vehicles are key equipment for mining transportation, underground roadways, and heavy-duty material handling infrastructure, where insufficient path-tracking accuracy may reduce roadway safety margins and increase the risk of lane encroachment, collision, and traffic interruption in confined haul...
Zhen Song, Hao-Ran Zhu, Ru-Yi Zhang et al.· Journal of Transportation En...· 0 citations
Unmanned motorcycles indicate outstanding maneuverability and adaptability under complex and narrow terrains due to their compact structure and platform pattern. However, autonomous driving for such non-coaxial two-wheeled platform faces two core challenges needed to be urgently dealt with: balance and trajectory track...
Cheng-Cheng Dong, Lu Yang, Jing-Hao Liu et al.· Unmanned Systems· 0 citations
The multi-articulated vehicle uses distributed drive mode. Due to its large
degree of freedom of movement and the large number of driving shafts, different
torque distribution methods affect the operational stability of the vehicle, how
to coordinate and distribute the torque of each driving motor has become an
urg...
Guan-Bo An, Li-Wei Zhang· SAE technical paper series· 0 citations
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