This invention proposes a method for calculating the dynamic stability limit of articulated tractors under
cross slope conditions, aiming to accurately assess the
lateral stability of articulated tractors under complex
terrain and dynamic operating conditions. This method first obtains parameters such as the
tractor's geometry,
mass, and dynamic acceleration; then, a spatial attitude model is established based on the rear body, transforming the articulation and torsional axes in the local coordinate
system of the rear body to the global space, and causing the front body to move relative to the spatial articulation and torsional axes; the spatial coordinates of the four wheel points,
articulation points, and centers of
mass are calculated, constructing a four-wheel
horizontal projection support
quadrilateral, and obtaining the dynamic equivalent projection points based on longitudinal and lateral accelerations; by determining the positional relationship of the projection points relative to the left and right
rollover boundaries, the critical stability angle of the
cross slope is determined. This invention can be used to assess the lateral
rollover risk of articulated tractors under different articulation, torsional,
terrain undulation, and acceleration / deceleration conditions.