Linearized Longitudinal Dynamic Model for Tractor Cruise Control System

It is necessary to establish the longitudinal dynamic model of the tractor for the cruise control system to design a fixed speed control algorithm according to the characteristics of the model and the external disturbance characteristics. Aiming at the complexity of the longitudinal power transmission system of the tractor, this paper uses the modular mechanism modeling and the experimental data modeling to establish the longitudinal dynamic model of the tractor. Due to the nonlinearity of the longitudinal dynamics system, the inverse model method is used to linearize the model, which is convenient for the design of control structure and control algorithm of the standard cruise control system. The longitudinal dynamics model is simulated on Simulink, and the model is verified by real vehicle under driving condition. Comparing the simulation data with the experimental data, the results show that the model can accurately reflect the longitudinal dynamics characteristics of tractor, and can meet the requirements for the design of cruise control system.