This research aims at using a dynamic model of tractor system to support navigation system design for an automati- cally guided agricultural tractor. This model, consisting of a bicycle model of the tractor system, ha...This research aims at using a dynamic model of tractor system to support navigation system design for an automati- cally guided agricultural tractor. This model, consisting of a bicycle model of the tractor system, has been implemented in the MATLAB environment and was developed based on a John Deere tractor. The simulation results from this MATLAB model was validated through field navigation tests. The accuracy of the trajectory estimation is strongly affected by the determination of the cornering stiffness of the tractor. In this simulation, the tractor cornering stiffness analysis was identified during simulation analysis using the MATLAB model based on the recorded trajectory data. The obtained data was used in simulation analyses for various navigation operations in the field of interest. The analysis on field validation test results indicated that the developed tractor system could accurately estimate wheel trajectories of a tractor system while operating in agricultural fields at various speeds. The results also indicated that the developed system could accurately determine tractor velocity and steering angle while the tractor operates in curved fields.展开更多
An aircraft tractor plays a significant role as a kind of important marine transport and support equipment. It＇s necessary to study its controlling and manoeuvring stability to improve operation efficiency. A virtual...An aircraft tractor plays a significant role as a kind of important marine transport and support equipment. It＇s necessary to study its controlling and manoeuvring stability to improve operation efficiency. A virtual prototyping model of the tractor-aircraft system based on Lagrange＇s equation of the first kind with Lagrange mutipliers was established in this paper, According to the towing characteristics, a path-tracking controller using fuzzy logic theory was designed. Direction control herein was carried out through a compensatory tracking approach. Interactive co-simulation was performed to validate the path-tracking behavior in closed-loop, Simulation results indicated that the tractor followed the reference courses precisely on a flat ground.展开更多
In this paper,the user interface of tractor cab real-time information management system was designed. Based on the principle of "user friendly",it reasonably arranged spatial position of information manageme...In this paper,the user interface of tractor cab real-time information management system was designed. Based on the principle of "user friendly",it reasonably arranged spatial position of information management system according to spatial distribution of tractor cab. Then,it analyzed operation habits and thinking ways of drivers,and formulated design principle meeting demands of drivers. Besides,it used LabView software to design user interface,including interface layout and interface design. User interface includes basic information interface,job information interface,camera monitoring interface,and fault diagnosis interface. Finally,it made evaluation of the user interface from color,indicator lamp,dial,and pointer. Results indicate that the designed user interface layout conforms to cognition mentality and operation habits and easy to get familiar and grasp; graphical interface is vivid and easy to stimulate pleasure of drivers in operation; interface color matching is coordinated; the layout of controls is hierarchical and logic,and operating mode is consistent with Windows system.展开更多
In this study, tractor power output, fuel consumption rate and work performance were indirectly predicted in order to develop an eco driving system. Firstly, equations were developed which could foretell tractor power...In this study, tractor power output, fuel consumption rate and work performance were indirectly predicted in order to develop an eco driving system. Firstly, equations were developed which could foretell tractor power output and fuel consumption rate using characteristic curves of tractor power output. Secondly, with actual engine revolution per minute （rpm） determined by initial engine rpm and work load, tractor power output and fuel consumption rate were forecasted. Thirdly, it was possible to foresee tractor work performance and fuel consumption rate by the speed signals of Global Positioning System （GPS）. Lastly, precision of the eco driving system was evaluated through tractor Power Take-Off （PTO） test, and effects of the eco driving system were investigated in the plowing and rotary tilling operations. Engine rpm, power output, fuel consumption rate, work performance and fuel consumption rate per plot area were displayed on the eco driving system. Predicted tractor power outputs in the full load curve were well coincided with the actual power output of prototype, but small differences, 1 to 6 kW were found in the part load curve. Error of the fuel consumption rate was 0.5 to 3 L/h at the part load curve. It was shown that 69% and 53% of fuel consumption rates could be reduced in plowing and rotary tilling operations, respectively, when the eco driving system was installed in tractor.展开更多
A novel data acquisition system was successfully integrated on-board the Massey Ferguson 3,000 series agricultural tractors for measuring tractor-implement performance. A commercial load cell was incorporated into the...A novel data acquisition system was successfully integrated on-board the Massey Ferguson 3,000 series agricultural tractors for measuring tractor-implement performance. A commercial load cell was incorporated into the existing system for the needed tractor-implement performance, measurements. This system is capable of measuring, displaying and recording, in real-time, the tractor＇s theoretical travel speed, the actual travel speed, the engine speed, the fuel consumption rate, and the drawbar pull. Static calibration tests on various associated sensors for the required measurements show excellent linearity with correlation coefficients that are close to 1. The developed system was extensively and successfully field demonstrated for tractor-implement performance with offset disc harrows on dry, undisturbed loamy soils. Under these conditions, a ratio of tractor power to implement width is suggested. The data also show the existence of a linear relationship between fuel consumption per hectare and specific draught, for the 4 to 9 kN m^-1 range, which suggests the possibility of extending the American Society of Agricultural and Biological Engineers model of draught prediction to forecast fuel consumption. The configuration of the tractor-harrow combination, based on the measurement of the draught required under operational conditions, provides the manufacturers with a reliable indication of the recommended power required for each harrow model. With this type of information farmers can make decisions regarding selection of a suitable tractor-implement combination for their farms. As a consequence, there is improved tractor-harrow productivity and field efficiency.展开更多
In response to the problems of excessive greenhouse-gas and particulate emissions and the low traction efficiency of conventional diesel tractors in the field,a purely electric wheel-side drive tractor was studied,inc...In response to the problems of excessive greenhouse-gas and particulate emissions and the low traction efficiency of conventional diesel tractors in the field,a purely electric wheel-side drive tractor was studied,including an electric motor drive system,a battery ballast system,and an electro–hydraulic suspension system.This paper develops a dynamics model of an electric tractor-ploughing unit under complex soil conditions,leading to the proposal of an active control method for drive wheel torque and a joint control method for the traction force of the suspension system and the front-and rear-axle loads of a tractor.Finally,the tractor is prototyped and assembled,and ploughing tests are carried out.The ploughing results show that the active torque-distribution control method proposed in this study reduces the tractor slip by 14.83%and increases the traction efficiency by 10.28%compared with the average torquedistribution mode.Compared with the conventional traction control mode,the joint control method for traction and ballast proposed in this paper results in a 3.7%increase in traction efficiency,a 15.05%decrease in slip,and a 4.9%reduction in total drive motor energy consumption.This study will help to improve the operation quality and traction efficiency of electric tractors in complex soil conditions.展开更多
Aiming at the problems of long time and poor machining precision in processing the tractor lever workpiece,a special fixture suitable for the tractor lever workpiece is designed by analyzing the processing technology ...Aiming at the problems of long time and poor machining precision in processing the tractor lever workpiece,a special fixture suitable for the tractor lever workpiece is designed by analyzing the processing technology of the lever workpiece,and the workpiece is accurately positioned and tightened under the action of the special fixture.Efficient machining of the workpiece can be achieved by using a drill template.The fixture not only has the advantages of high production efficiency,low cost and high life,but also effectively improves the processing technology of the workpiece,and has certain reference value for the subsequent fixture improvement design.展开更多
To provide a much more resilient transport scheme for tractor and trailer transportation systems,this paper explores the generation method of tractor and trailer transport schemes considering the influence of disrupte...To provide a much more resilient transport scheme for tractor and trailer transportation systems,this paper explores the generation method of tractor and trailer transport schemes considering the influence of disrupted events.Three states of tractors including towing loaded trailers,towing empty trailers,and idle driving are taken into account.Based on the disruption management theory,a scheduling model is constructed to minimize the total deviation cost including transportation time,transportation path,and number of used vehicles under the three states of tractors.A heuristics based on the contract net and simulated annealing algorithm is designed to solve the proposed model.Through comparative analysis of examples with different numbers of newly added transportation tasks and different types of road networks,the performance of the contract net algorithm in terms of deviations in idle driving paths,empty trailer paths,loaded trailer paths,time,number of used vehicles,and total deviation cost are analyzed.The results demonstrate the effectiveness of the model and algorithm,highlighting the superiority of the disruption management model and the contract net annealing algorithm.The study provides a reference for handling unexpected events in the tractor and trailer transportation industry.展开更多
基金Project supported by the National Natural Science Foundation of China (No. 30270773)the Teaching and Research Award Program forOutstanding Young Teachers in Higher Education Institutions of MOE,Chinaand the Natural Science Foundation of Zhejia
文摘This research aims at using a dynamic model of tractor system to support navigation system design for an automati- cally guided agricultural tractor. This model, consisting of a bicycle model of the tractor system, has been implemented in the MATLAB environment and was developed based on a John Deere tractor. The simulation results from this MATLAB model was validated through field navigation tests. The accuracy of the trajectory estimation is strongly affected by the determination of the cornering stiffness of the tractor. In this simulation, the tractor cornering stiffness analysis was identified during simulation analysis using the MATLAB model based on the recorded trajectory data. The obtained data was used in simulation analyses for various navigation operations in the field of interest. The analysis on field validation test results indicated that the developed tractor system could accurately estimate wheel trajectories of a tractor system while operating in agricultural fields at various speeds. The results also indicated that the developed system could accurately determine tractor velocity and steering angle while the tractor operates in curved fields.
基金Harbin Technological Innovation Research Fund(NO:2012RFXXG039)
文摘An aircraft tractor plays a significant role as a kind of important marine transport and support equipment. It＇s necessary to study its controlling and manoeuvring stability to improve operation efficiency. A virtual prototyping model of the tractor-aircraft system based on Lagrange＇s equation of the first kind with Lagrange mutipliers was established in this paper, According to the towing characteristics, a path-tracking controller using fuzzy logic theory was designed. Direction control herein was carried out through a compensatory tracking approach. Interactive co-simulation was performed to validate the path-tracking behavior in closed-loop, Simulation results indicated that the tractor followed the reference courses precisely on a flat ground.
基金Supported by Science and Technology Support Program of Jiangsu Province(Agriculture)(BE2012384)Special Fund for Conversion of Scientific and Technological Achievements in Jiangsu Province(BA2010055)
文摘In this paper,the user interface of tractor cab real-time information management system was designed. Based on the principle of "user friendly",it reasonably arranged spatial position of information management system according to spatial distribution of tractor cab. Then,it analyzed operation habits and thinking ways of drivers,and formulated design principle meeting demands of drivers. Besides,it used LabView software to design user interface,including interface layout and interface design. User interface includes basic information interface,job information interface,camera monitoring interface,and fault diagnosis interface. Finally,it made evaluation of the user interface from color,indicator lamp,dial,and pointer. Results indicate that the designed user interface layout conforms to cognition mentality and operation habits and easy to get familiar and grasp; graphical interface is vivid and easy to stimulate pleasure of drivers in operation; interface color matching is coordinated; the layout of controls is hierarchical and logic,and operating mode is consistent with Windows system.
文摘In this study, tractor power output, fuel consumption rate and work performance were indirectly predicted in order to develop an eco driving system. Firstly, equations were developed which could foretell tractor power output and fuel consumption rate using characteristic curves of tractor power output. Secondly, with actual engine revolution per minute （rpm） determined by initial engine rpm and work load, tractor power output and fuel consumption rate were forecasted. Thirdly, it was possible to foresee tractor work performance and fuel consumption rate by the speed signals of Global Positioning System （GPS）. Lastly, precision of the eco driving system was evaluated through tractor Power Take-Off （PTO） test, and effects of the eco driving system were investigated in the plowing and rotary tilling operations. Engine rpm, power output, fuel consumption rate, work performance and fuel consumption rate per plot area were displayed on the eco driving system. Predicted tractor power outputs in the full load curve were well coincided with the actual power output of prototype, but small differences, 1 to 6 kW were found in the part load curve. Error of the fuel consumption rate was 0.5 to 3 L/h at the part load curve. It was shown that 69% and 53% of fuel consumption rates could be reduced in plowing and rotary tilling operations, respectively, when the eco driving system was installed in tractor.
文摘A novel data acquisition system was successfully integrated on-board the Massey Ferguson 3,000 series agricultural tractors for measuring tractor-implement performance. A commercial load cell was incorporated into the existing system for the needed tractor-implement performance, measurements. This system is capable of measuring, displaying and recording, in real-time, the tractor＇s theoretical travel speed, the actual travel speed, the engine speed, the fuel consumption rate, and the drawbar pull. Static calibration tests on various associated sensors for the required measurements show excellent linearity with correlation coefficients that are close to 1. The developed system was extensively and successfully field demonstrated for tractor-implement performance with offset disc harrows on dry, undisturbed loamy soils. Under these conditions, a ratio of tractor power to implement width is suggested. The data also show the existence of a linear relationship between fuel consumption per hectare and specific draught, for the 4 to 9 kN m^-1 range, which suggests the possibility of extending the American Society of Agricultural and Biological Engineers model of draught prediction to forecast fuel consumption. The configuration of the tractor-harrow combination, based on the measurement of the draught required under operational conditions, provides the manufacturers with a reliable indication of the recommended power required for each harrow model. With this type of information farmers can make decisions regarding selection of a suitable tractor-implement combination for their farms. As a consequence, there is improved tractor-harrow productivity and field efficiency.
基金supported by the National Key Research and Development Plan of China(2022YFD2001201)the Beijing Postdoctoral Research Foundation(2023-ZZ-112)+1 种基金the National Natural Science Foundation of China(52272444)the Natural Science Foundation of Jiangsu Province(BK20230548).
文摘In response to the problems of excessive greenhouse-gas and particulate emissions and the low traction efficiency of conventional diesel tractors in the field,a purely electric wheel-side drive tractor was studied,including an electric motor drive system,a battery ballast system,and an electro–hydraulic suspension system.This paper develops a dynamics model of an electric tractor-ploughing unit under complex soil conditions,leading to the proposal of an active control method for drive wheel torque and a joint control method for the traction force of the suspension system and the front-and rear-axle loads of a tractor.Finally,the tractor is prototyped and assembled,and ploughing tests are carried out.The ploughing results show that the active torque-distribution control method proposed in this study reduces the tractor slip by 14.83%and increases the traction efficiency by 10.28%compared with the average torquedistribution mode.Compared with the conventional traction control mode,the joint control method for traction and ballast proposed in this paper results in a 3.7%increase in traction efficiency,a 15.05%decrease in slip,and a 4.9%reduction in total drive motor energy consumption.This study will help to improve the operation quality and traction efficiency of electric tractors in complex soil conditions.
基金supported by the Henan Natural Science Foundation (No.222300420168)the Natural Science Foundation of Henan Polytechnic University (B2021-31)Fundamental Research Funds for the Universities of Henan Province (No.NSFRF220415).
文摘Aiming at the problems of long time and poor machining precision in processing the tractor lever workpiece,a special fixture suitable for the tractor lever workpiece is designed by analyzing the processing technology of the lever workpiece,and the workpiece is accurately positioned and tightened under the action of the special fixture.Efficient machining of the workpiece can be achieved by using a drill template.The fixture not only has the advantages of high production efficiency,low cost and high life,but also effectively improves the processing technology of the workpiece,and has certain reference value for the subsequent fixture improvement design.
基金support provided by the National Natural Science Foundation of China(Grant No.52362055)the Science and Technology Plan Project of Guangxi Zhuang Autonomous Region(Grant No.2021AC19334)Guangxi Science and Technology Major Program(Grant No.AA23062053).
文摘To provide a much more resilient transport scheme for tractor and trailer transportation systems,this paper explores the generation method of tractor and trailer transport schemes considering the influence of disrupted events.Three states of tractors including towing loaded trailers,towing empty trailers,and idle driving are taken into account.Based on the disruption management theory,a scheduling model is constructed to minimize the total deviation cost including transportation time,transportation path,and number of used vehicles under the three states of tractors.A heuristics based on the contract net and simulated annealing algorithm is designed to solve the proposed model.Through comparative analysis of examples with different numbers of newly added transportation tasks and different types of road networks,the performance of the contract net algorithm in terms of deviations in idle driving paths,empty trailer paths,loaded trailer paths,time,number of used vehicles,and total deviation cost are analyzed.The results demonstrate the effectiveness of the model and algorithm,highlighting the superiority of the disruption management model and the contract net annealing algorithm.The study provides a reference for handling unexpected events in the tractor and trailer transportation industry.
