基于模型实验的拖拉机配置对稳定性的影响差异
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摘要
针对不同路况下拖拉机关键配置对其侧向稳定性的影响差异,搭建了模拟拖拉机在全级随机路面下沿侧向斜坡等高线行驶的比例模型试验系统,提出了基于载荷损失率的稳定性评价方法,开展了关键配置因素及其交互作用对侧向稳定性的影响差异研究。结果表明:合理增加前配重质量对提高各种路况下的拖拉机稳定性有显著效果,但对中级不平路面(如旋耕场等),配置大直径低压胎前轮和较宽后轮距则更有效;在犁过的农田等较高级不平路面下,配置的优化效果被明显削弱;配置间的交互作用在所有路况下对整机稳定性均没有显著影响。
Wheeled farm tractors are widely used in farming and accidents involving tractor rollover remain an ongoing problem. Investigating the significance variation of factorial effects on tractor stability on various terrains provides a theoretical reference for designing tractors with higher stability and provides operators criteria for avoiding rollover. In this paper,adopting the scale-model-based experimental approach,we simulated the progress that the tractor running along the side slope in random road surfaces. In order to interpret the rollover trend,we developed an evaluation index,called the load loss rate(LLR),which characterizes the strength of contact between the ground and tractor uphill wheels. The results showed that the reasonable increase in the front weight has a significant effect on improving the tractor stability in all kinds of road conditions. However,for medium uneven road surfaces such as farmland and rotary farm,the large diameter and low ‐pressure tire and the wide rear wheelbase will be more effective. Meanwhile,the optimization of the tractor configuration has been significantly impaired in higher uneven terrain such as plowed fields. In addition,the interaction of the configurational factors has no significant effect on the overall machine stability under all road conditions. The results of this paper may provide a theoretical reference for the targeted optimization of tractor configuration,which can help to improve the stability of tractors in complex road conditions.
Wheeled farm tractors are widely used in farming and accidents involving tractor rollover remain an ongoing problem. Investigating the significance variation of factorial effects on tractor stability on various terrains provides a theoretical reference for designing tractors with higher stability and provides operators criteria for avoiding rollover. In this paper,adopting the scale-model-based experimental approach,we simulated the progress that the tractor running along the side slope in random road surfaces. In order to interpret the rollover trend,we developed an evaluation index,called the load loss rate(LLR),which characterizes the strength of contact between the ground and tractor uphill wheels. The results showed that the reasonable increase in the front weight has a significant effect on improving the tractor stability in all kinds of road conditions. However,for medium uneven road surfaces such as farmland and rotary farm,the large diameter and low ‐pressure tire and the wide rear wheelbase will be more effective. Meanwhile,the optimization of the tractor configuration has been significantly impaired in higher uneven terrain such as plowed fields. In addition,the interaction of the configurational factors has no significant effect on the overall machine stability under all road conditions. The results of this paper may provide a theoretical reference for the targeted optimization of tractor configuration,which can help to improve the stability of tractors in complex road conditions.
引文
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[3]杨忠义.拖拉机翻车事故原因分析[J].农机使用与维修,2016(11):69.Yang Zhongyi.Analysis of tractor tipping accident[J].Farm Machinery Using and Maintenance,2016(11):69.
[4]李俊杰.车辆侧翻预警系统动力学仿真及算法研究[D].武汉:武汉理工大学汽车工程学院,2013.Li Junjie.Dynamics simulation and algorithm research of vehicle rollover warning system[D].Wuhan:College of Automotive Engineering,Wuhan University of Technology,2013.
[5]Daris D C,Rehkugler G E.Agricultural wheeltractor overturns part I:mathematical model[J].Transactions of the ASAE,1974,17(3):477483.
[6]Denis D,Thuilot B,Lenain R.Online adaptive observer for rollover avoidance of reconfigurable agricultural vehicles[J].Computers and Electronics in Agriculture,2016,126:3243.
[7]Nichol C I,Sommer H J,Murphy D J.Simplified overturn stability monitoring of agricultural tractors[J].Journal of Agricultural Safety and Health,2005,11(1):99108.
[8]Vidoni R,Bietresato M,Gasparetto A,et al.Evaluation and stability comparison of different vehicle configurations for robotic agricultural operations on sideslopes[J].BiosystemsEngineering,2015,129:197211.
[9]Yisa M G,Terao H,Kubota M.Dynamics of tractorimplement combinations on slopes(Part IV):experimental validation of simulation models[J].Journal of the Faculty of Agriculture,1998,68(1):1731.
[10]Li Z,Mitsuoka M,Inoue E,et al.2015 Development of stability indicators for dynamic Phase I overturn of conventional farm tractors with front axle pivot[J].Biosystems Engineering,2015,134:5567.
[11]赵丁选,王登峰,程悦荪,等.铰接式拖拉机静态二级倾翻稳定性分析[J].农业机械学报,1994,25(1):2126.Zhao Dingxuan,Wang Dengfeng,Cheng Yuesun,et al.Static torsion stability analysis of articulated tractor[J].Transactions of the Chinese Society for Agricultural Machinery,1994,25(1):2126.
[12]赵丁选,程悦荪,诸文农,等.铰接式拖拉机倾翻稳定性的动力学解法[J].农业机械学报,1995,26(3):14.Zhao Dingxuan,Cheng Yuesun,Zhu Wennong,et al.Dynamic solution of tilting stability of articulated tractor[J].Transactions of the Chinese Society for Agricultural Machinery,1995,26(3):14.
[13]田晋跃,贾会星.铰接车辆侧倾过程动态仿真[J].农业机械学报,2006,37(7):2629.Tian Jinyue,Jia Huixing.Dynamic simulation of the overturning of articulated vehicles[J].Transactions of the Chinese Society for Agricultural Machinery,2006,37(7):2629.
[14]朱颖,周炜,郭志平,等.基于车辆侧倾角侧翻预警算法的研究[J].机械设计与制造,2011(2):5254.Zhu Ying,Zhou Wei,Guo Zhiping,et al.Research on vehicle rollover warning algorithm[J].Machinery Design and Manufacture,2011(2):5254.
[15]褚端峰,崔剑,邓泽健,等.基于改进TTR算法的车辆侧翻预警研究[J].中国机械工程,2016,27(11):15571561.Chu Duanfeng,Cui Jian,Deng Zejian,et al.Vehicle rollover early warning based on improved TTR algorithm[J].China Mechanical Engineering,2016,27(11):15571561.
[16]朱天军,宗长富,吴炳胜,等.基于改进TTR算法的重型车辆侧翻预警系统[J].机械工程学报,2011,47(10):8894.Zhu Tianjun,Zong Changfu,Wu Bingsheng,et al.Heavy vehicle rollover warning system based on improved TTR algorithm[J].Journal of Mechanical Engineering,2011,47(10):8894.
[17]张露,张忠富,王国业,等.基于电磁机械耦合再生制动系统的电动汽车稳定性控制[J].农业机械学报,2017,48(1):309316.Zhang Lu,Zhang Zhongfu,Wang Guoye,et al.Electric vehicles stability control based on electromagneticmechanical coupled regenerative braking system[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(1):309316.
[18]Previati G,Gobbi M,Mastinu G.Mathematical models for farm tractor rollover prediction[J].International Journal of Vehicle Design,2014,64(24):280303.
[19]陈东辉,吕建华,龙刚,等.基于ADAMS的半悬挂式农业机组静侧翻稳定性[J].吉林大学学报:工学版,2016,48(4):11761183.Chen Donghui,Lyu Jianhua,Long Gang,et al.Static rollover stability of agricultural semimounted unit based on ADAMS[J].Journal of Jilin University(Engineering and Technology Edition),2016,48(4):11761183.
[20]朱勇华,侯建勋,周一鸣.研究拖拉机动态翻倾特性的模型试验法--遥控拖拉机翻倾试验模型的研制[J].农业机械学报,1986(3):1723.Zhu Yonghua,Hou Jianxun,Zhou Yiming.A model test method for studying dynamic tilting characteristics of tractorsdevelopment of tilting test model for remote tractor[J].Transactions of the Chinese Society for Agricultural Machinery,1986(3):1723.
[21]Takeda J,Shimada M,Kikuchi Y,et al.Dynamic behaviors of farm tractor passing over an obstacle.(Part I)-improvement of tractor dynamic model and measurement of tire stiffness[J].Journal of the Japanese Society of Agricultural Machinery,2010,72:457463.
[22]Ahmadi I.Dynamics of tractor lateral overturn on slopes under the influence of position disturbances(model development)[J].Journal of Terramechanics,2011,48(5):339346.
[23]张硕,李臻,朱忠祥,等.多因素影响下拖拉机侧向稳定性模型试验研究[J].农业机械学报,2017,48(10):358363.Zhang Shuo,Li Zhen,Zhu Zhongxiang,et al.Scale model study of lateral stability of tractor affected by multifactors[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(10):358363.
[24]ISO8608-2016.International Organization for Standardization.Mechanical vibration-road surface profiles-reporting of measured data[S].
[25]GB7031-1987.车辆振动输入--路面平度表示方法[S].
[26]Ohmiya K.Studies on roughness of meadow[J].Memoirs of the Faculty of Agriculture,1990,17(2):151157.
[27]Torisu R,Matsuo M,Morishima S.Characteristics of the agricultural surface undulations as origins of farm tractor vibrations[J].Science Bulletin of the Faculty of Agriculture,1979,34(1/2):717.
[28]Matthews J.Ride comfort for tractor operators[J].Journal of Agricultural Engineering Research,1966,11(1):4457.
[29]Yang J H,Murayama.車体屈折式ホイールトラクタの等高線走行における動的横転倒[J].Journal of the Japanese Forestry Society,1991,73(1):110.
[30]Abubakar M S,Ahmad D,Akande F B.A review of farm tractor overturning accidents and safety[J].Pertanika Journal of Science and Technology,2010,18(2):377385.
[31]徐书雷,冯春凌,岳艳艳.拖拉机配重的类型和使用方法[J].拖拉机与农用运输车,2007,34(4):100101.Xu Shulei,Feng Chunling,Yue Yanyan.Type of tractor's ballast and its application[J].Tractor and Farm Transporter,2007,34(4):100101.
[2]张文华,张维强,鲁植雄,等.基于虚拟样机技术的轮式拖拉机侧倾稳定性研究[J].机械强度,2017,39(1):138142.Zhang Wenhua,Zhang Weiqiang,Lu Zhixiong,et al.Research of wheeled tractor roll stability based on virtual prototyping technology[J].Journal of Mechanical Strength,2017,39(1):138142.
[3]杨忠义.拖拉机翻车事故原因分析[J].农机使用与维修,2016(11):69.Yang Zhongyi.Analysis of tractor tipping accident[J].Farm Machinery Using and Maintenance,2016(11):69.
[4]李俊杰.车辆侧翻预警系统动力学仿真及算法研究[D].武汉:武汉理工大学汽车工程学院,2013.Li Junjie.Dynamics simulation and algorithm research of vehicle rollover warning system[D].Wuhan:College of Automotive Engineering,Wuhan University of Technology,2013.
[5]Daris D C,Rehkugler G E.Agricultural wheeltractor overturns part I:mathematical model[J].Transactions of the ASAE,1974,17(3):477483.
[6]Denis D,Thuilot B,Lenain R.Online adaptive observer for rollover avoidance of reconfigurable agricultural vehicles[J].Computers and Electronics in Agriculture,2016,126:3243.
[7]Nichol C I,Sommer H J,Murphy D J.Simplified overturn stability monitoring of agricultural tractors[J].Journal of Agricultural Safety and Health,2005,11(1):99108.
[8]Vidoni R,Bietresato M,Gasparetto A,et al.Evaluation and stability comparison of different vehicle configurations for robotic agricultural operations on sideslopes[J].BiosystemsEngineering,2015,129:197211.
[9]Yisa M G,Terao H,Kubota M.Dynamics of tractorimplement combinations on slopes(Part IV):experimental validation of simulation models[J].Journal of the Faculty of Agriculture,1998,68(1):1731.
[10]Li Z,Mitsuoka M,Inoue E,et al.2015 Development of stability indicators for dynamic Phase I overturn of conventional farm tractors with front axle pivot[J].Biosystems Engineering,2015,134:5567.
[11]赵丁选,王登峰,程悦荪,等.铰接式拖拉机静态二级倾翻稳定性分析[J].农业机械学报,1994,25(1):2126.Zhao Dingxuan,Wang Dengfeng,Cheng Yuesun,et al.Static torsion stability analysis of articulated tractor[J].Transactions of the Chinese Society for Agricultural Machinery,1994,25(1):2126.
[12]赵丁选,程悦荪,诸文农,等.铰接式拖拉机倾翻稳定性的动力学解法[J].农业机械学报,1995,26(3):14.Zhao Dingxuan,Cheng Yuesun,Zhu Wennong,et al.Dynamic solution of tilting stability of articulated tractor[J].Transactions of the Chinese Society for Agricultural Machinery,1995,26(3):14.
[13]田晋跃,贾会星.铰接车辆侧倾过程动态仿真[J].农业机械学报,2006,37(7):2629.Tian Jinyue,Jia Huixing.Dynamic simulation of the overturning of articulated vehicles[J].Transactions of the Chinese Society for Agricultural Machinery,2006,37(7):2629.
[14]朱颖,周炜,郭志平,等.基于车辆侧倾角侧翻预警算法的研究[J].机械设计与制造,2011(2):5254.Zhu Ying,Zhou Wei,Guo Zhiping,et al.Research on vehicle rollover warning algorithm[J].Machinery Design and Manufacture,2011(2):5254.
[15]褚端峰,崔剑,邓泽健,等.基于改进TTR算法的车辆侧翻预警研究[J].中国机械工程,2016,27(11):15571561.Chu Duanfeng,Cui Jian,Deng Zejian,et al.Vehicle rollover early warning based on improved TTR algorithm[J].China Mechanical Engineering,2016,27(11):15571561.
[16]朱天军,宗长富,吴炳胜,等.基于改进TTR算法的重型车辆侧翻预警系统[J].机械工程学报,2011,47(10):8894.Zhu Tianjun,Zong Changfu,Wu Bingsheng,et al.Heavy vehicle rollover warning system based on improved TTR algorithm[J].Journal of Mechanical Engineering,2011,47(10):8894.
[17]张露,张忠富,王国业,等.基于电磁机械耦合再生制动系统的电动汽车稳定性控制[J].农业机械学报,2017,48(1):309316.Zhang Lu,Zhang Zhongfu,Wang Guoye,et al.Electric vehicles stability control based on electromagneticmechanical coupled regenerative braking system[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(1):309316.
[18]Previati G,Gobbi M,Mastinu G.Mathematical models for farm tractor rollover prediction[J].International Journal of Vehicle Design,2014,64(24):280303.
[19]陈东辉,吕建华,龙刚,等.基于ADAMS的半悬挂式农业机组静侧翻稳定性[J].吉林大学学报:工学版,2016,48(4):11761183.Chen Donghui,Lyu Jianhua,Long Gang,et al.Static rollover stability of agricultural semimounted unit based on ADAMS[J].Journal of Jilin University(Engineering and Technology Edition),2016,48(4):11761183.
[20]朱勇华,侯建勋,周一鸣.研究拖拉机动态翻倾特性的模型试验法--遥控拖拉机翻倾试验模型的研制[J].农业机械学报,1986(3):1723.Zhu Yonghua,Hou Jianxun,Zhou Yiming.A model test method for studying dynamic tilting characteristics of tractorsdevelopment of tilting test model for remote tractor[J].Transactions of the Chinese Society for Agricultural Machinery,1986(3):1723.
[21]Takeda J,Shimada M,Kikuchi Y,et al.Dynamic behaviors of farm tractor passing over an obstacle.(Part I)-improvement of tractor dynamic model and measurement of tire stiffness[J].Journal of the Japanese Society of Agricultural Machinery,2010,72:457463.
[22]Ahmadi I.Dynamics of tractor lateral overturn on slopes under the influence of position disturbances(model development)[J].Journal of Terramechanics,2011,48(5):339346.
[23]张硕,李臻,朱忠祥,等.多因素影响下拖拉机侧向稳定性模型试验研究[J].农业机械学报,2017,48(10):358363.Zhang Shuo,Li Zhen,Zhu Zhongxiang,et al.Scale model study of lateral stability of tractor affected by multifactors[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(10):358363.
[24]ISO8608-2016.International Organization for Standardization.Mechanical vibration-road surface profiles-reporting of measured data[S].
[25]GB7031-1987.车辆振动输入--路面平度表示方法[S].
[26]Ohmiya K.Studies on roughness of meadow[J].Memoirs of the Faculty of Agriculture,1990,17(2):151157.
[27]Torisu R,Matsuo M,Morishima S.Characteristics of the agricultural surface undulations as origins of farm tractor vibrations[J].Science Bulletin of the Faculty of Agriculture,1979,34(1/2):717.
[28]Matthews J.Ride comfort for tractor operators[J].Journal of Agricultural Engineering Research,1966,11(1):4457.
[29]Yang J H,Murayama.車体屈折式ホイールトラクタの等高線走行における動的横転倒[J].Journal of the Japanese Forestry Society,1991,73(1):110.
[30]Abubakar M S,Ahmad D,Akande F B.A review of farm tractor overturning accidents and safety[J].Pertanika Journal of Science and Technology,2010,18(2):377385.
[31]徐书雷,冯春凌,岳艳艳.拖拉机配重的类型和使用方法[J].拖拉机与农用运输车,2007,34(4):100101.Xu Shulei,Feng Chunling,Yue Yanyan.Type of tractor's ballast and its application[J].Tractor and Farm Transporter,2007,34(4):100101.