Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
DEVELOPMENT OF A TRACTION CONTROL STRATEGY AND DYNAMIC MODELING OF A 4WD ELECTRIC TRACTOR
Submission Author:
Wesllen Lins de Araujo , SP
Co-Authors:
Wesllen Lins de Araujo, Tárcio André Dos Santos Barros, Vinícius de Galiza Vieira, GABRIEL MORAES, Ivan Camilo Arbelaez Ruiz, Jenyffer Santos , Angel Potin Garcia, Daniel Albiero
Presenter: Wesllen Lins de Araujo
doi://10.26678/ABCM.COBEM2023.COB2023-2434
Abstract
The electrification of agricultural tractors offers greater versatility in the development of embedded controls. Electric tractors equipped with independent motors on each wheel have the ability to individually control torque and speed, adapting to the traction capacity of each wheel, which is affected by disturbances along the path, resulting in a decrease in operational efficiency. To achieve this goal, it is essential to carry out a thorough mathematical modeling of the entire system, which will serve as the basis for the development of these controls. This article proposes a dynamic modeling of an electric tractor and a traction control strategy, with the aim of being used in the development of future embedded systems, aiming to enhance the operational efficiency of an electric tractor. Tire-soil interaction and electrical motor mathematical models were used for simulation in Matlab Simulink® software, reproducing the operation of an agricultural tractor with a drag implement. Disturbances were introduced into the system, such as variations in the ground slope angle and the action of the drag implement. For the traction control strategy, a method of torque distribution between the front and rear axles was proposed, generating a power distribution map, showing percentage values of action on each axle to achieve maximum traction efficiency. The simulation results demonstrated the expected behavior in the presence of disturbances, such as an increase in front-wheel slip with the ground slope, reaching over 70% growth at a 10º incline, highlighting the importance of modeling for estimating these traction parameters for the development of future traction control systems to enhance operational efficiency.
Keywords
Traction control, tire-soil interaction, wheel slip
