农业装备与车辆工程2026，Vol.64Issue(4)：41-50,10.DOI:10.3969/j.issn.1673-3142.2026.04.007
丘陵山地拖拉机驱动防滑控制研究
Research on drive anti-slip control for hilly and mountainous tractors
摘要
Abstract
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.关键词
丘陵山地拖拉机/驱动防滑/最优滑转率/PSO-PID控制Key words
hilly and mountainous tractor/drive anti-slip control/optimal slip ratio/PSO-PID control分类
农业科技引用本文复制引用
胡家乐,邱绪云,焦伟,宋裕民,高琦,李维华..丘陵山地拖拉机驱动防滑控制研究[J].农业装备与车辆工程,2026,64(4):41-50,10.基金项目
山东省重点研发计划"智能生姜复式播种机与联合收获机研发及产业化"(2024CXGC010904) （2024CXGC010904）
