Analysis and research on orchard vehicle instable avoiding control

摘要

This paper presents a dynamic orchard vehicle model in the SimMechanics simulation environment of Matlab. The model's function is to replace physical vehicles during different experiments in rollover and pitch research. Two simplified linear dynamic models are developed to analyze the force situation in rollover and pitch. A size-reduced physical model of the orchard vehicle is constructed, it is a front-wheel-drive, differential steering car, and can realize the rollover prevention control by active-steering. In SimMechanics, a vehicle model based on physical model is designed. Both two models are used to simulate actual steering conditions in experiments. By analyzing the test results of the two models, we can find that they correspond with each other. So the SimMechanics model can be used as a substitute to simulate the vehicle's motion and can be applied to analyze the vehicle stability properties.