Multi-body dynamics modeling and test of an articulated steering half-track tractor
Keywords:
articulated steering, half-track tractor, multi-body dynamics, model verification, real tractor testAbstract
With the benefits of small turning radius and high trafficability, the articulated steering half-track tractor had been widely utilized in orchard and small spaced farmland. To study the dynamic performance of the articulated steering half-track tractor and provide a model basis for studying the path tracking control, an accurate multi-body dynamic model of the tractor was required. In this study, the crucial parameters in the dynamic model construction of the tractor were investigated. Firstly, the topology model of the components of the half-track tractor was built by RecurDyn, in which the movement subs and driver functions were given. Secondly, considering the difference of dynamic characteristic of the articulated steering tractor with respect to different pavement hardnesses, the soft and hard pavement models were constructed by employing the harmonic superposition method. Finally, the simulations of the half-track tractor under straight-line and swerve had been conducted on the two types of pavements, and the simulation results were compared with the experimental and theoretical results. The results indicated that the average speed error of the dynamic model on hard pavement and farmland soft pavement were 2.7% and 2.1% compared with the real tractor tests. At the same time, the straight-line driving offset errors of the dynamic model on the two pavements were 1.6% and 3.8% for the front wheels and the rear wheels offset errors were 3.9% and 2.4%, respectively. Furthermore, the turning radius error under front wheel steering was 8.2% and the error under articulated steering was 5.3%. It is proved that the established dynamic model had high accuracy, which provides an efficient approach to analyze the dynamic features of the half-track tractor. Keywords: articulated steering, half-track tractor, multi-body dynamics, model verification, real tractor test DOI: 10.25165/j.ijabe.20231606.8165 Citation: Zhou B C, Chen S Y, Hu J N, You Y, Wang D C, Zhang Q. Multi-body dynamics modeling and test of an articulated steering half-track tractor. Int J Agric & Biol Eng, 2023; 16(6): 124–133.References
[1] Han H W, Han J S, Chung W J, Kim J T, Park Y J. Prediction of synchronization time for tractor power-shift transmission using multi-body dynamic simulation. Transactions of the ASABE, 2021; 64(5): 1483–1498.
[2] Gao Y, Cao D P, Shen Y H. Path-following control by dynamic virtual terrain field for articulated steer vehicles. Vehicle System Dynamics, 2020; 58(10): 1528–1552.
[3] Jin Y H, Yuan Y W, Zhu L C, Wang D C, Zhao B, Fang X F. Design and optimization of an automatic hydraulic steer-by-wire system for an agricultural chassis. Int J Agric & Biol Eng, 2022; 15(1): 132–138.
[4] Ahn D V, Shin I K, Oh J, Chung W J, Han H W, Kim J T, et al. Reduction of torsional vibration in resonance phenomena for tractor power take-off drivelines using torsional damper. Transactions of the ASABE, 2021; 64(2): 365–376.
[5] Li H, Zhao Y Q, Qin C B, Ding L, Cheng S S, Zhang K F. Design and test of the control system of the folding steering unmanned plant protection vehicle. Journal of Agricultural Machinery, 2020; 51(S2): 544–553. (in Chinese)
[6] Kim W S, Kim Y S, Kim Y J. Development of prediction model for axle torque of agricultural tractors. Transactions of the ASABE, 2020; 63(6): 1773–1786.
[7] Cui L F, Mao H P, Xue X Y, Ding S M, Qiao B Y. Optimized design and test for a pendulum suspension of the crop spray boom in dynamic conditions based on a six DOF motion simulator. Int J Agric & Biol Eng, 2018; 11(3): 76–85.
[8] Bruno F, Valda R, Enrico C. Lateral stability performance of articulated narrow-track tractors. Agronomy, 2021; 11(12): 2512–2512.
[9] Oh J, Chung W J, Han H W, Kim J T, Son G, Park Y J. Evaluation of tractor ride vibrations by cab suspension system. Transactions of the ASABE, 2020; 63(5): 1465–1476.
[10] Zhao C H, Yang Z Y, Cheng X R, Hu J W, Hou X L. SINS/GNSS integrated navigation system based on maximum versoria filter. Chinese Journal of Aeronautics, 2022; 35(8): 168–178.
[11] Hu K, Zhang W Y, Kun L. Multi-body dynamics modeling and test of triangular crawler chassis with high clearance. Transactions of the CSAM, 2021; 52(7): 386–394. (in Chinese)
[12] Liu L, Zhang T, Xie N. Multi-body dynamics modeling and verification of small agricultural crawler chassis. Transactions of the CSAE, 2019; 35(7): 39–46. (in Chinese)
[13] Liu L, Xie N, Zhang T. Mechanical modeling and driving performance analysis of tracked vehicle on farmland soft slope. Mechanical Design, 2021; 38(3): 110–118. (in Chinese)
[14] Ma X G, Pan S W, You X M. Mathematical model of crawler driving system and tension calculation. Vibration and Impact, 2014; 33(3): 186–190. (in Chinese)
[15] Hao B F, Wang H Y, Rui Q. Dynamic modeling and model test verification of tank multibody system. China Mechanical Engineering, 2018; 29(4): 429–433, 440. (in Chinese)
[16] Xie H, Wang H Y, Hao B F. Dynamic modeling and model test verification of tracked vehicles. Agricultural Equipment and Vehicle Engineering, 2018; 56(6): 44–48. (in Chinese)
[17] Wu W, Luo J L, Wei C H, Yuan S H. Design and control of a hydro-mechanical transmission for all-terrain vehicle. Mechanism and Machine Theory, 2020; 154: 104052.
[18] Wang Y W, Wu J L, Zhang N, Mo W W. Dynamics modeling and shift control of a novel spring-based synchronizer for electric vehicles. Mechanism and Machine Theory, 2022; 168: 104586.
[19] Rakun J, Pantano M, Lepej P, Lakota M. Sensor fusion-based approach for the field robot localization on Rovitis 4.0 vineyard robot. Int J Agric & Biol Eng, 2022; 15(6): 91–95.
[20] Francesco M, Aurelio S, Andrea N. Grousers effect in tracked vehicle multibody dynamics with deformable terrain contact model. Applied Science-Basic, 2020; 10(18): 6581.
[21] Meng D L, Tian M J, Miao L Y, Wang Y H, Hu J L, Gao B Z. Design and modeling of an in-wheel two-speed AMT for electric vehicles. Mechanism and Machine Theory, 2021; 163: 104383.
[22] Li Y L, Tang C. Research on coupled dynamic model of tracked vehicles and its solving method. Mathematical Problems in Engineering, 2015; 2015(Pt.4): 293125.1–293125.10.
[23] Bai Y D, Sun L Y, Zhang M L. Terramechanics modeling and grouser optimization for multistage adaptive lateral deformation tracked robot. IEEE Access, 2020; 8: 171387–171396.
[24] Qiao X Y, Jin Y, Gu C. Vibration response and evaluation method of high-speed tracked vehicles driving off-road. Shock and Vibration, 2022; 2022: 2866236.
[25] Li Y M, Liu Y, Yue X, Li Z Q, Liu X A, Li T L. Mechanical model for double side self-propelled rolling machine based on rigid and flexible contact dynamics. Int J Agric & Biol Eng, 2022; 15(6): 38–43.
[26] Ling Q H, Dai J C, He X Y, Chen S Z, Chen Z W. Allocation optimization of multi-axis suspension dynamic parameter for tracked vehicle. Complexity, 2021; 2021: 8961020.
[27] Liu J Z, Li P P, Mao H P. Mechanical and kinematic modeling of assistant vacuum sucking and pulling operation of tomato fruits in robotic harvesting. Transactions of the ASABE, 2015; 58(3): 539–550.
[28] Lee D H, Choi C H, Chung S O, Kim Y J, Lee K H, Shin B S. Development of a plow tillage cycle for an agricultural tractor. Transactions of the ASABE, 2016; 59(2): 445–454.
[29] China standard. GB/T 7031-2005: Machinery Industry Federation. Measurement data report of mechanical vibration road pavement spectrum. Beijing, China: Standards Publishing House, 2005. (in Chinese)
[30] China standard. GB/T 15370.4-2012: Machinery Industry Federation. General technical conditions for agricultural tractors. Beijing, China: Standards Publishing House, 2012. (in Chinese)
[2] Gao Y, Cao D P, Shen Y H. Path-following control by dynamic virtual terrain field for articulated steer vehicles. Vehicle System Dynamics, 2020; 58(10): 1528–1552.
[3] Jin Y H, Yuan Y W, Zhu L C, Wang D C, Zhao B, Fang X F. Design and optimization of an automatic hydraulic steer-by-wire system for an agricultural chassis. Int J Agric & Biol Eng, 2022; 15(1): 132–138.
[4] Ahn D V, Shin I K, Oh J, Chung W J, Han H W, Kim J T, et al. Reduction of torsional vibration in resonance phenomena for tractor power take-off drivelines using torsional damper. Transactions of the ASABE, 2021; 64(2): 365–376.
[5] Li H, Zhao Y Q, Qin C B, Ding L, Cheng S S, Zhang K F. Design and test of the control system of the folding steering unmanned plant protection vehicle. Journal of Agricultural Machinery, 2020; 51(S2): 544–553. (in Chinese)
[6] Kim W S, Kim Y S, Kim Y J. Development of prediction model for axle torque of agricultural tractors. Transactions of the ASABE, 2020; 63(6): 1773–1786.
[7] Cui L F, Mao H P, Xue X Y, Ding S M, Qiao B Y. Optimized design and test for a pendulum suspension of the crop spray boom in dynamic conditions based on a six DOF motion simulator. Int J Agric & Biol Eng, 2018; 11(3): 76–85.
[8] Bruno F, Valda R, Enrico C. Lateral stability performance of articulated narrow-track tractors. Agronomy, 2021; 11(12): 2512–2512.
[9] Oh J, Chung W J, Han H W, Kim J T, Son G, Park Y J. Evaluation of tractor ride vibrations by cab suspension system. Transactions of the ASABE, 2020; 63(5): 1465–1476.
[10] Zhao C H, Yang Z Y, Cheng X R, Hu J W, Hou X L. SINS/GNSS integrated navigation system based on maximum versoria filter. Chinese Journal of Aeronautics, 2022; 35(8): 168–178.
[11] Hu K, Zhang W Y, Kun L. Multi-body dynamics modeling and test of triangular crawler chassis with high clearance. Transactions of the CSAM, 2021; 52(7): 386–394. (in Chinese)
[12] Liu L, Zhang T, Xie N. Multi-body dynamics modeling and verification of small agricultural crawler chassis. Transactions of the CSAE, 2019; 35(7): 39–46. (in Chinese)
[13] Liu L, Xie N, Zhang T. Mechanical modeling and driving performance analysis of tracked vehicle on farmland soft slope. Mechanical Design, 2021; 38(3): 110–118. (in Chinese)
[14] Ma X G, Pan S W, You X M. Mathematical model of crawler driving system and tension calculation. Vibration and Impact, 2014; 33(3): 186–190. (in Chinese)
[15] Hao B F, Wang H Y, Rui Q. Dynamic modeling and model test verification of tank multibody system. China Mechanical Engineering, 2018; 29(4): 429–433, 440. (in Chinese)
[16] Xie H, Wang H Y, Hao B F. Dynamic modeling and model test verification of tracked vehicles. Agricultural Equipment and Vehicle Engineering, 2018; 56(6): 44–48. (in Chinese)
[17] Wu W, Luo J L, Wei C H, Yuan S H. Design and control of a hydro-mechanical transmission for all-terrain vehicle. Mechanism and Machine Theory, 2020; 154: 104052.
[18] Wang Y W, Wu J L, Zhang N, Mo W W. Dynamics modeling and shift control of a novel spring-based synchronizer for electric vehicles. Mechanism and Machine Theory, 2022; 168: 104586.
[19] Rakun J, Pantano M, Lepej P, Lakota M. Sensor fusion-based approach for the field robot localization on Rovitis 4.0 vineyard robot. Int J Agric & Biol Eng, 2022; 15(6): 91–95.
[20] Francesco M, Aurelio S, Andrea N. Grousers effect in tracked vehicle multibody dynamics with deformable terrain contact model. Applied Science-Basic, 2020; 10(18): 6581.
[21] Meng D L, Tian M J, Miao L Y, Wang Y H, Hu J L, Gao B Z. Design and modeling of an in-wheel two-speed AMT for electric vehicles. Mechanism and Machine Theory, 2021; 163: 104383.
[22] Li Y L, Tang C. Research on coupled dynamic model of tracked vehicles and its solving method. Mathematical Problems in Engineering, 2015; 2015(Pt.4): 293125.1–293125.10.
[23] Bai Y D, Sun L Y, Zhang M L. Terramechanics modeling and grouser optimization for multistage adaptive lateral deformation tracked robot. IEEE Access, 2020; 8: 171387–171396.
[24] Qiao X Y, Jin Y, Gu C. Vibration response and evaluation method of high-speed tracked vehicles driving off-road. Shock and Vibration, 2022; 2022: 2866236.
[25] Li Y M, Liu Y, Yue X, Li Z Q, Liu X A, Li T L. Mechanical model for double side self-propelled rolling machine based on rigid and flexible contact dynamics. Int J Agric & Biol Eng, 2022; 15(6): 38–43.
[26] Ling Q H, Dai J C, He X Y, Chen S Z, Chen Z W. Allocation optimization of multi-axis suspension dynamic parameter for tracked vehicle. Complexity, 2021; 2021: 8961020.
[27] Liu J Z, Li P P, Mao H P. Mechanical and kinematic modeling of assistant vacuum sucking and pulling operation of tomato fruits in robotic harvesting. Transactions of the ASABE, 2015; 58(3): 539–550.
[28] Lee D H, Choi C H, Chung S O, Kim Y J, Lee K H, Shin B S. Development of a plow tillage cycle for an agricultural tractor. Transactions of the ASABE, 2016; 59(2): 445–454.
[29] China standard. GB/T 7031-2005: Machinery Industry Federation. Measurement data report of mechanical vibration road pavement spectrum. Beijing, China: Standards Publishing House, 2005. (in Chinese)
[30] China standard. GB/T 15370.4-2012: Machinery Industry Federation. General technical conditions for agricultural tractors. Beijing, China: Standards Publishing House, 2012. (in Chinese)
Downloads
Published
2024-02-06
How to Cite
Zhou, B., Chen, S., Hu, J., You, Y., Wang, D., & Zhang, Q. (2024). Multi-body dynamics modeling and test of an articulated steering half-track tractor. International Journal of Agricultural and Biological Engineering, 16(6), 124–133. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/8165
Issue
Section
Power and Machinery Systems
License
IJABE is an international peer reviewed open access journal, adopting Creative Commons Copyright Notices as follows.
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
