Abstract
A rollover model for for predicting the operation of mountain tractors in hilly areas is presented. The quasi-static rollover model and the transient rollover model of the mountain tractor are studied, and the dynamic equations are also derived. The simulation model is set in the Carsim/Matlab Simulink environment, the rollover threshold of the tractor when cornering with a certain lateral acceleration under the angular step condition is analyzed. The anti-rollover control is used when one of the four wheels loses contact with the slope surface. The most significant result is that the model suggests that employment of active rollover control of the wheels may hinder the tractor from rolling on the slope. Thus, it proves the rationality of the model presented.
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