Development of an Anti-rollover Warning and Active Intervention
Controller for Wheeled Tractor

Jie      Gao; Chengqiang      Yin; Guanhao      Yuan

Abstract

Background: Tractor rollover accidents are the most severe problem in agricultural production. According to the statistical analysis of the rollover incidents, some rollover accidents can be avoided by timely anti-rollover warning and active control. There are a few researches on the anti-rollover control for agricultural tractors, although great progress in the research on tractor security has been achieved, such as rollover protective structure design.

Objective: The purpose of this patent study was to develop a controller with the function of warning as well as active anti-rollover control employing the power motor installed on the steering column to adjust the front wheel angle and control the rollover index within the safety range.

Methodology: The structure block for the hardware of the controller was devised that included data obtaining, rollover risk estimation, rollover warning, and front-wheel steering control sections. The main circuits have been designed in detail by adopting module methods, such as motor control circuit, positioning and transmission circuit, etc. The control scheme has been demonstrated by designing an overview of the overall architecture, including rollover indicator calculation, load transfer ratio (LTR) controller design, and front-wheel steering angle tracking controller design. C language has been used to accomplish the software design.

Results: The active anti-rollover controller can calculate and keep the LTR within the stable range by adjusting the front wheel angle in real-time. The fast response and smoothness of the results demonstrate that the controller can fulfill the designed function.

Conclusion: The developed controller can meet the control requirement due to several advantageous aspects, such as reliability, effectiveness, and practicability. It is prospective for the developed controller to provide a valuable reference to reduce tractor rollover accidents.

Keywords: Tractor rollover, warning, active steering, rollover index, hardware design, motor control, hydraulic cylinders.

Graphical Abstract

[1]
V. Rondelli, C. Casazza,  and R. Martelli, "Tractor rollover fatalities, analyzing accident scenario", J. Safety Res., vol. 67, pp. 99-106, 2018.
 [http://dx.doi.org/10.1016/j.jsr.2018.09.015] [PMID: 30553435]
[2]
T.J. Descoteaux, Carrying system for use with rollover frame of a tractor, 2019. U.S. patent 16381419
[3]
D. Hyun,  and R. Langari, "Modeling to predict rollover threat of tractor-semitrailers", Veh. Syst. Dyn., vol. 39, no. 6, pp. 401-414, 2003.
 [http://dx.doi.org/10.1076/vesd.39.6.401.14596]
[4]
D. Denis, B. Thuilot,  and R. Lenain, "Online adaptive observer for rollover avoidance of reconfigurable agricultural vehicles", Comput. Electron. Agric., vol. 126, no. c, pp. 32-43, 2016.
 [http://dx.doi.org/10.1016/j.compag.2016.04.030]
[5]
Q. Liu, N. Zhang, F. Feng,  and M. Zhou, "Handling performance of tractor-semitrailers equipped with hydraulically interconnected suspension", Proc. Inst. Mech. Eng., D J. Automob. Eng., vol. 233, no. 12, pp. 3098-3111, 2019.
 [http://dx.doi.org/10.1177/0954407018817629]
[6]
M.N. Lysych, "A study of the static lateral stability of a tillage machine-tractor unit on a virtual stand", J. Phys. Conf. Ser., vol. 1515, no. 4, p. 042033, 2020.
 [http://dx.doi.org/10.1088/1742-6596/1515/4/042033]
[7]
N.V. Nguyen, Y. Harada, H. Takimoto,  and K. Shimomoto, "Measurement of static lateral stability angle and roll moment of inertia for agricultural tractors with attached implements", J. Agric. Saf. Health, vol. 26, no. 1, pp. 15-29, 2020.
 [http://dx.doi.org/10.13031/jash.13610] [PMID: 32429617]
[8]
H. Sahin,  and O. Akalin, "Articulated vehicle lateral stability management via active rear-wheel steering of tractor using fuzzy logic and model predictive control", SAE Int. J. Commer. Veh., vol. 13, no. 2, pp. 02-13-02-0008, 2020.
 [http://dx.doi.org/10.4271/02-13-02-0008]
[9]
B. Franceschetti, V. Rondelli,  and E. Capacci, "Lateral stability performance of articulated narrow-track tractors", Agronomy (Basel), vol. 11, no. 12, p. 2512, 2021.
 [http://dx.doi.org/10.3390/agronomy11122512]
[10]
J.J. Hou, H.Z. Lei, Z.J. Fu,  and P.X. Yuan, A novel rollover warning approach for commercial vehicles using unscented kalman filter., vol. 2022. Math. Probl. Eng., 2022.
[11]
G.M. Araujo, M.A. Teixeira, M.A. Voltarelli, W.A. Orlando Junior,  and L.C.M. Tavares, "Coil spring for torque reduction in tractor foldable rops", Eng. Agric., vol. 38, no. 5, pp. 680-689, 2018.
 [http://dx.doi.org/10.1590/1809-4430-eng.agric.v38n5p680-689/2018]
[12]
J.I. Latorre-Biel, T. Ballesteros, I. Arana,  and J.R. Alfaro, "Development of an inexpensive rollover energy dissipation device to improve safety provided by ROPS", Biosyst. Eng., vol. 185, pp. 88-102, 2019.
 [http://dx.doi.org/10.1016/j.biosystemseng.2019.02.004]
[13]
N. Ochoa Lleras, S. Brennan, D. Murphy, J. Klena, P.M. Garvey,  and H.J. Sommer III, "Development of an open-source tractor driving simulator for tractor stability tests", J. Agric. Saf. Health, vol. 22, no. 4, pp. 227-246, 2016.
 [http://dx.doi.org/10.13031/jash.22.11774] [PMID: 29140627]
[14]
L. Etzler, S. Marzani, R. Montanari,  and F. Tesauri, "Mitigating accident risk in farm tractors", Ergon. Des., vol. 16, no. 1, pp. 6-13, 2008.
 [http://dx.doi.org/10.1518/106480408X282737]
[15]
G.D. Ojados, B. Martin-Gorriz, B.I. Ibarra, M.A. Macian, S.G. Adolfo,  and H.B. Miguel, "Development and assessment of a tractor driving simulator with immersive virtual reality for training to avoid occupational hazards", Comput. Electron. Agric., vol. 143, no. C, pp. 111-118, 2017.
 [http://dx.doi.org/10.1016/j.compag.2017.10.008]
[16]
M. Watanabe,  and K. Sakai, "Identifying tractor overturning scenarios using a driving simulator with a motion system", Biosyst. Eng., vol. 210, pp. 261-270, 2021.
 [http://dx.doi.org/10.1016/j.biosystemseng.2021.08.010]
[17]
D. Sun, D. Chen, S. Wang,  and X. Wang, "A dynamic instability detection and prediction system for high clearance tractor", IFAC-PapersOnLine, vol. 49, no. 16, pp. 50-54, 2016.
 [http://dx.doi.org/10.1016/j.ifacol.2016.10.010]
[18]
V. Rondelli, R. Martelli, C. Casazza,  and A. Guarnieri, "Methodological approach to assess tractor stability in normal operation in field using a commercial warning device", J. Agric. Eng., vol. 44, p. 2, 2013.
 [http://dx.doi.org/10.4081/jae.2013.374]
[19]
Y. Kim, S.Y. Shin, B. Kim, H.K. Kim, Y. Cho,  and J. Kim, "Development of an inexpensive black box with transmission of SOS and theft signal for an agricultural tractor", J. Biosyst. Eng., vol. 37, no. 6, pp. 352-358, 2012.
 [http://dx.doi.org/10.5307/JBE.2012.37.6.352]
[20]
C.I. Nichol, H.J. Sommer III,  and D.J. Murphy, "Simplified overturn stability monitoring of agricultural tractors", J. Agric. Saf. Health, vol. 11, no. 1, pp. 99-108, 2005.
 [http://dx.doi.org/10.13031/2013.17900] [PMID: 15782892]
[21]
A.B. Koc,  and B. Liu, Mobile app for tractor rollover detection and emergency notification Annual International Meeting of the American Society of Agricultural and Biological Engineers, Kansas City, Missouri, 2013, p. 131620429.
[22]
B. Liu,  and A.B. Koc, "Field tests of a tractor rollover detection and emergency notification system", J. Agric. Saf. Health, vol. 21, no. 2, pp. 113-127, 2015.
 [PMID: 26204787]
[23]
C. Casazza, R. Martelli,  and V. Rondelli, "Evaluation of a commercial tractor safety monitoring system using a reverse engineering procedure", J. Agric. Saf. Health, vol. 22, no. 4, pp. 215-225, 2016.
 [http://dx.doi.org/10.13031/jash.22.11667] [PMID: 29140622]
[24]
P. Renfro,  and J.R. Renfro, "Mount for canopies to go on generic rollover bars for riding lawn mowers and tractors", U.S. patent 15619724, 2017.
[25]
J.T. Rasset, C.A. Bautz,  and D.J. Zurn, "Suspended cab rollover protection system (ROPS) attachment for a 4WD agricultural tractor", U.S. patent 13019886, 2011.
[26]
M. Liao, S. Wang, T. Jiang,  and J.J. Tao, "Tractor static rollover stability test bed and control method", C.N. patent 10421506.8, 2018.
[27]
J. Oliver, T. Daniel,  and L. Jonas, "Method for predictive rollover prevention of a vehicle", U.S. patent 15767565, 2016.
[28]
H.L. Cook,  and B.T. Robinson, "Controllable load distribution system for a vehicle", U.S. patent 15395536, , 2016.
[29]
J. Gao, C.Q. Yin, S.R. Wang,  and G.H. Yuan, "Tractor anti-rollover control system and control method", C.N. patent 10736931.3, 2020.
[30]
Z. Li, J.H. Qin, Z.B. Wu,  and Z.X. Zhu, "Wheeled tractor active anti-rollover control method and system based on active steering control", C.N. patent 10409550.1, 2019.
[31]
Z. Li, S.H. Fu, J.H. Qin, Z.X. Zhu,  and Y.F. Du, "Tractor active stabilization control system based on momentum flywheel and control method", C.N. patent 11130703.0, 2018.
[32]
Z. Li, L.L. Wang, Z.Z. He, M.L. Yang,  and D. Chen, "Tractor limit state stability and operation state compensation gyro active control system and method", C.N. patent 10717603.3, 2021.
[33]
S.R. Wang, "The key technology research of path following control on tractor",  M.S. thesis, Liaocheng university, Liaocheng, Shandong, 2020.
[34]
Z.W. Zhou, "Design of the remote monitoring system of locomotive’s energy consumption based on GPR/GPRS", PhD Thesis, Hunan University of Technology: Changsha, Hunan, 2014.
[35]
"SIM908 Hardware Design, Available from:", download.csdn.net/download/mkpci/5472717? utm_source=bbsseo
[36]
M. Touloupou, E. Kapassa, A. Kiourtis, P. Stavrianos,  and D. Kyriazis, "Intra: Introducing adaptation in 5G monitoring frameworks", International Conference e-Society, pp. 112-118, 2019.
 [http://dx.doi.org/10.33965/es2019_201904L014]
[37]
B. Khazael, M. Vahidi Asl,  and H.T. Malazi, "Geospatial complex event processing in smart city applications", Simul. Model. Pract. Theory, vol. 122, p. 122, 2022.
[38]
M.L. Hu, "JY61 Attitude Angle sensor manual. Available from:", www.wit-motion.com

Cite As

Recent Patents on Engineering

Development of an Anti-rollover Warning and Active Intervention Controller for Wheeled Tractor

Abstract

Graphical Abstract