Yaw Stability Control of High-Clearance Sprayer Driven by Hub Motor

Abstract

Based on the active torque distribution of hub motor, the stability of agricultural vehicles with high clearance spray can be controlled. The seven degree of freedom model of the chassis of the high clearance spray, the tire model and the simplified degree of freedom model of the spray are established. With two important indicators reflecting the stability of the high clearance spray as state variables, The yaw High clearance spray stability controller based on model prediction design control; Simulate and analyze using Matlab/Simulink under sinusoidal operating conditions of a stable speed of 20 km/h and steering wheel angle. Two important indicators reflecting the stability of the high clearance spray, namely yaw rate and sideslip angle of the center of mass, were controlled. The simulation results show that, compared with no control,the model predictive control reduced the absolute average error of the two important indicators reflecting the stability of the high clearance spray by 45% and 30%, respectively, and effectively improved the working stability of the spray.