Abstract:  In China, the sugarcane planting area is mainly in slowslope and hilly lands. In order to develop the hilly land operation of caterpillar sugarcane harvesters, the running stability of these harvesters on slopes should be analyzed. This study takes twotrack and fourtrack type sugarcane harvesters as research objects, and the limit tilting angle as the evaluation index to theoretically analyze the longitudinal and transverse slope tilt stability of the two harvesters. The simulation software RecurDyn was used to simulate the slope driving stability of the two harvesters. The simulation results showed that the longitudinal upslope limit tilting angles of the twotrack type (horizontal rotation of elevator 0°、+90°) and fourtrack type harvesters were 24.0°, 31.0°, and 35.0°, respectively. The longitudinal downslope limit tilting angles of the twotrack type (horizontal rotation of elevator 0°, +90°) and fourtrack type harvesters were 36.0°, 32.0°, and 27.0°, respectively. The longitudinal upslope driving stability of the twotrack type elevator with a horizontal rotation of +90° was better than that with a horizontal rotation of 0°, and the longitudinal upslope driving stability of the fourtrack type was better than that of the twotrack type. The opposite was true for longitudinal downslope driving stability. The simulation values of the transverse slope limit tilting angle of the twotrack type (horizontal rotation of elevator -90°, 0°, and +90°) and fourtrack type were 21.0°, 18.0°, 12.0°, and 16.0°, respectively. The driving stability was better for the horizontal rotation angle of the twotrack type elevator that was opposite to the transverse slope tilting angle. The transverse slope driving stability of the fourtrack type was better than that of the twotrack type elevator with a horizontal rotation of +90° and worse than that of the twotrack type elevator with a horizontal rotation of -90° and 0°. According to the slope driving stability simulation results of the two harvesters, it can be seen that the stability of the fourtrack type is better than that of the twotrack type, and it is more suitable for driving in hilly and mountainous lands. By simulating the slope driving tests of two sugarcane harvesters, the driving stability of the two machines on the slope is obtained, which provides a reference for the chassis design of sugarcane harvesters.

Key words: tracktype, sugarcane harvester, slope driving stability, limit tilting angle, RecurDyn simulation

摘要： 我国甘蔗种植区域主要在缓坡和丘陵地，为更好地开展履带式甘蔗收割机丘陵山地作业，需对履带式收割机的坡道行驶稳定性进行分析。以两履带与四履带式甘蔗收割机为研究对象，以极限倾翻角为评价指标，对两机纵、横坡倾翻稳定性进行理论分析。利用RecurDyn仿真软件对两机坡道行驶稳定性进行仿真。仿真结果显示：两履带式（输送臂水平旋转0°、+90°）、四履带式的纵上坡极限倾翻角仿真值分别为24.0°、31.0°、35.0°。两履带式（输送臂水平旋转0°、+90°）、四履带式的纵下坡极限倾翻角仿真值分别为36.0°、32.0°、27.0°。两履带式输送臂水平旋转+90°时纵上坡行驶稳定性比水平旋转0°时好，四履带式纵上坡行驶稳定性比两履带式好，纵下坡行驶稳定性则相反。两履带式（输送臂水平旋转-90°、0°、+90°）、四履带式的横坡极限倾翻角仿真值分别为21.0°、18.0°、12.0°、16.0°。两履带式输送臂水平旋转角度与横坡倾斜角度相反，行驶稳定性越好。四履带式横坡行驶稳定性比两履带式输送臂为+90°时好，比两履带输送臂为-90°、0°时差。研究结果表明：四履带式坡道行驶稳定性比两履带式好，更适应在丘陵山地行驶。仿真模拟两款甘蔗收割机坡道行驶试验，分析两机坡道行驶稳定性，为甘蔗收割机底盘设计提供参考。

关键词: 履带式, 甘蔗收割机, 坡道行驶稳定性, 极限倾翻角, RecurDyn仿真