丘陵山地拖拉机驱动防滑控制研究OA

To address the severe driving-wheel slip of four-wheel-drive tractors operating in hilly and mountainous terrain characterized by steep slopes and low road adhesion,an anti-slip driving control strategy was proposed.The strategy took the optimal slip ratio as the control target and suppressed excessive wheel slip through tractive-force modulation.Based on a full-vehicle dynamic model,a tire-soil dynamic model and a standard traction-performance prediction method were introduced to establish the relationship between the traction coefficient and slip ratio.The optimal slip ratio under operating conditions was then determined from this characteristic and used as the reference for anti-slip control.An incremental PID anti-slip controller was developed,and its parameters were optimized using the Particle Swarm Optimization(PSO)algorithm to cope with variations in operating conditions such as abrupt changes in adhesion and left-right wheel adhesion differences.The dynamic model was implemented in the MATLAB/Simulink environment and validated through simulations.The results showed that the proposed strategy effectively suppressed excessive driving-wheel slip,maintained the slip ratio within the optimal range,and improved vehicle acceleration performance during the transition to soft-soil conditions,thereby enhancing traction performance and driving stability under complex low-adhesion terrains.