Design of active stability control system of agricultural off-road vehicles

Abstract

Part of active stability control system design of an agricultural technological vehicle designated for working in mountain and foothill areas is described. The principle of active control of angular velocities of the centre of gravity has been used. During the manoeuvre, active tipping axes are identified by orientation of the weight vector. From experimental tests of a machine MT8-222 based on the Standard STN 47 0170, the real records of angular velocities were obtained. Tests were executed on the slope with an average slope of 32 degrees. From computation critical angular velocities were gained, by which the machine could get into the position of labile stability during the manoeuvre. The regulator was simulated in Matlab® which controlled the actual value of angular velocity compared with the critical one. In case the boundary zone of critical angular velocity was reached, the regulator sends a signal to the fuel control system and then vehicle speed decreased. During experimental tests, the vehicle did not turn over. Therefore, the angular velocity was simulated by a generated function so that the functionality of the designed regulator was verified.

Keywords

• vehicle dynamics
• mathematical modelling
• simulation