Mountain farm tricycle with automatic stability control system
The tricycle's automatic stabilization system addresses directional instability on slopes by adjusting wheel torque, ensuring stable vehicle direction and reducing soil erosion.
Patent Information
- Authority / Receiving Office
- RU · RU
- Patent Type
- Patents
- Current Assignee / Owner
- FEDERALNOE GOSUDARSTVENNOE BYUDZHETNOE OBRAZOVATELNOE UCHREZHDENIE VYSSHEGO OBRAZOVANIYA GORSKIJ GOSUDARSTVENNYJ AGRARNYJ UNIV
- Filing Date
- 2026-01-30
- Publication Date
- 2026-06-30
Smart Images
Figure 00000001_ABST
Abstract
Description
[0001] The invention relates to the field of mechanical engineering, in particular to three-wheeled vehicles used in mountainous operating conditions and can be used in the design of tricycles.
[0002] A tricycle is known, which is a three-wheeled vehicle with wheels symmetrical in relation to the middle longitudinal plane, a maximum design speed of more than 50 km / h, an engine with a working volume of more than 50 cm 3 (Mechanical vehicles and trailers. Classification and definitions. GOST R 52051, 2003).
[0003] The main disadvantage of this tricycle is the loss of directional stability when moving along the specified contours of the slope.
[0004] The technical objective of the invention is to create a reliable, simple, relatively inexpensive vehicle, adapted for work in mountain farms, with increased directional stability.
[0005] The technical result is achieved in that a tricycle for mountain farms with an automatic stabilization system of directional stability with a front single steerable wheel and symmetrically located rear drive wheels, where the frame is taken as a part of the supporting system of the tricycle together with the front steerable wheel and the cargo platform, is characterized in that the system of automatic stabilization of the tricycle's directional angle contains a roll sensor, a sensor of the angular velocity of rotation of the tricycle around the vertical axis, a lateral acceleration sensor, a control unit, an actuator, which is a complex unit and consists of two driving motor-wheels with an individual drive for each motor-wheel, mounted on the rear axle of the tricycle, and also structurally includes an engine that provides a traction mode and a braking mode, allowing, without direct control action of the driver, to automatically stabilize the course of movement in the transverse direction of the slope.
[0006] This technical result allows for automatic stabilization of the vehicle's course across a slope without direct driver input. The directional stability stabilization mechanism is controlled automatically, without driver intervention, depending on the inclination of the supporting surface, the tricycle's orientation in the horizontal plane relative to the vertical axis, and the spatial orientation of the tricycle's longitudinal axis.
[0007] The essence of the invention is explained by the drawings: Fig. 1 shows the operating principle of the automatic stabilization system of the tricycle; Fig. 2 shows the principle of transmitting electronic signals of the automatic stabilization system of the tricycle; Fig. 3 shows a diagram of a tricycle with automatic stabilization of the directional stability, side view; Fig. 4 is the same, top view; Fig. 5 is the same, rear view.
[0008] The tricycle comprises a frame 1, a front steerable wheel 2 connected to it, rear drive motor wheels 3.4, a body in the form of a cargo platform 5. The automatic stabilization system comprises a roll sensor 6, a sensor of the angular velocity of rotation of the tricycle around the vertical axis 7, a lateral acceleration sensor 8, a control unit 9, an actuator 10.
[0009] When a tricycle is moving along a given horizontal line, due to agrotechnical and energy-technical factors, the normal reaction of the supporting surface on the upslope wheel differs significantly from the reaction of the downslope rear wheel, with the majority of the force being absorbed by the downslope wheel. The redistribution of loads between the wheels results in a difference in the rolling resistance forces between the downslope and upslope rear wheels. Consequently, the upslope rear wheel will slip relative to the downslope wheel. The traction torque applied to the upslope wheel causes accelerated rotation of the wheel, resulting in slippage relative to the supporting surface. This creates a deflection moment that destabilizes directional stability, causing the tricycle's longitudinal axis to deviate from the given horizontal line.
[0010] The classic tricycle design, lacking automatic stability control, lacks the ability to stabilize the vehicle's course. Due to this drawback, to maintain the desired direction of travel on a transverse slope, the disturbing forces arising from the redistribution of loads across the sides must be compensated for by turning the steering wheel up the slope at an angle equal to the angle of deviation of the tricycle's longitudinal axis from the slope's horizontal.
[0011] When a tricycle with automatic stability control deviates from the preset slope horizontal, its performance characteristics change. Input sensors respond to this, recording specific tricycle parameters under the specified operating conditions. A tilt sensor continuously monitors the tricycle's position in the surrounding area, taking into account the slope angle, and sends an electronic signal to the control unit if it deviates from the vertical.The angular velocity sensor monitors changes in the tricycle's orientation in the horizontal plane relative to the vertical axis drawn through the center of gravity of the masses. In the event of a change in angular velocity, electronic measurement methods based on the conversion of the tricycle's angular velocity around the vertical axis signal the tricycle's deviation from the intended course of movement and send an electronic signal to the control unit. The angular velocity sensor is activated in the event of lateral acceleration of the tricycle downhill. The lateral acceleration sensor, structurally mounted in the front of the tricycle, monitors changes in the orientation of the tricycle's longitudinal axis in the transverse plane (changes in the direction of movement), and in the event of the tricycle's deviation from the intended trajectory of movement, sends an electronic signal to the control unit (Fig. 1).Input sensors convert parameter changes into an electrical signal and send dynamic algorithms to the control unit, which in turn generates a control signal for the actuator (Fig. 2). The motor wheels included in the actuator receive the control signal, and the traction torque of the slipping wheel on the slope is partially balanced by the braking torque, causing the wheel to rotate at an accelerated / decelerated rate. A traction torque greater than the rolling resistance torque is applied to the wheel on the slope below. The wheel on the slope below has a greater angular velocity relative to the wheel on the slope above. The accelerated rotation of the wheel on the slope below the tricycle's rear axle creates an additional restoring torque, greater in magnitude and opposite in direction to the deflecting torque, thereby restoring directional stability.
[0012] Automatic stabilization of the tricycle's directional stability on a slope is performed as follows: when the tricycle moves along a given horizontal slope, the roll sensor 6 continuously monitors the tricycle's position in the surrounding space, taking into account the slope angle, and in case of deviation from the vertical, sends an electronic signal to the control unit 9; the angular velocity sensor 7 monitors changes in the tricycle's orientation in the horizontal plane relative to the vertical axis drawn through the center of gravity of the masses; in the event of a change in the angular velocity of rotation around the vertical axis, the sensor 7 signals a deviation of the tricycle from the given course of movement and sends an electronic signal to the control unit 9; the lateral acceleration sensor 8 monitors changes in the orientation of the longitudinal axis of the tricycle in the transverse plane; in the event of a deviation of the tricycle from the given trajectory of movement, the sensor 8 sends an electronic signal to the control unit 9.The control unit 9 receives dynamic algorithms from the input sensors 6,7,8 and sends them to the actuator 10, as a result of which the actuator 10 distributes the traction force between the wheels 3,4 of the rear axle in such a way that the lower wheel 3 along the slope has a greater angular velocity and tag moment in relation to the upper wheel 4 along the slope.
[0013] The design of a tricycle for mountain farms with an automatic course angle stabilization system will increase the directional stability of the tricycle when performing transport work along specified slope contours and, as a result, eliminate the development of soil erosion processes.
Claims
A tricycle for mountain farms with an automatic stabilization system of directional stability with a front single steerable wheel and symmetrically located rear drive wheels, the frame being a part of the supporting system of the tricycle together with the front steerable wheel and the cargo platform, characterized in that the system of automatic stabilization of the tricycle's directional angle contains a roll sensor, a sensor of the angular velocity of rotation of the tricycle around the vertical axis, a lateral acceleration sensor, a control unit, an actuator, which is a complex unit and consists of two driving motor-wheels with an individual drive for each motor-wheel, mounted on the rear axle of the tricycle, and also structurally includes an engine that provides a traction mode and a braking mode, allowing, without direct control action of the driver, to automatically stabilize the course of movement in the transverse direction of the slope.