Research On The Dynamics Performance Of Miniature Hillside Crawler Tractor Driving On Sloping Field

Development of small agricultural mechanization is important for national strategicdevelopment,In order to predict, evaluate and improve the traction, stability and turningperformance of miniature hillside crawler tractor,and provide basic theory for improving thestructure and motion control,this paper studies the following content:(1) The relationship among tracked vehicles driving force,design parameters, groundparameters and vehicle slip rate are established in the both cases of uniform normal pressuredistribution and linear normal pressure distribution.When the slip rate is7%,the maximumtraction is4.56kN, traction coefficient is0.30and traction ratio is0.85.Tractive performancecan be improved when track width and track-ground contact length increase.(2) The mathematical model of centroid position changing with leveling mechanism isestablished according to the work principle of the leveling organization. Then the influence ofleveling mechanism to centroid position of the whole machine is studied.When levelingmechanism is working,left or right offset mainly happens, lateral stability of miniaturehillside crawler tractor is increased and the longitudinal stability is reduced.(3) The position of miniature crawler tractor in the ramp is described.Kinematics anddynamics equations when turning on the ramps are established, and distribution function ofthe linear vertical distribution along the track is derived. Based on this, considering slip andslide turn, the calculation formula of track traction, braking force, steering resistance torqueare given, and minimum steering radius is calculated using numerical method. The law ofpressure center offset, caterpillar track slip and skid rate, braking force, traction, the insidetrack resistance moment and the outer resistance moment under different slopes, differentspeeds and turning radius are analysed,and the extreme values and the corresponding azimuthare solved.