1989 Volume 51 Issue 6 Pages 45-53
A turning behavior of a 4WD-4WS farm tractor was analyzed by forming three equations of motion of which main parameters were a tractive force and a cornering force. In these equations dynamic weight transfers due to forward and lateral accelerations during the turn were taken into account. After solving the equations by the RUNGE-KUTTA-GILL method, a side slip angle and a yaw angular velocity of and around the center of gravity were got for a certain steady condition.
Using above equations, the turning behavior was simulated by a computer and effects of steering angle, running speed, tire-ground frictional coefficient and position of the center of gravity on the turning behavior were analyzed.
Turning experiments to check the simulation were done and turning radii were measured. There were a little differences between the measured and the calculated turning radius.
