As tractors mainly transit rural roads, drivers can suffer from harmful vibrations transmitted though their seats. Thus, the driving comfort in tractors with agricultural equipment should be evaluated. To investigate the effects of forward motion and front-wheel steering on the driving comfort of two-wheel-drive tractors with agricultural equipment, we establish a man–machine–road virtual prototype for simulations and validate it experimentally. First, a tractor that has suspended agricultural equipment and is operating at front-wheel steering angles of 0°, 12°, 24°, and 36° is driven on a random level-D road. Simultaneously, the vibration accelerations experienced by the driver are obtained along the X, Y, and Z axes with the coordinate system defined according to the ISO 2631-1 standard. The combined weighted root-mean-square (RMS) acceleration corresponding to the driver’s whole-body vibration increases from 0.205 to 0.909 m/s² when increasing the steering angle. Then, considering the forward speed as the variable, the front-wheel steering angle is set at 30°, and the vibration accelerations experienced by the driver are obtained when the tractor travels at 4, 5, and 6 km/h on a random level-D road. The combined weighted RMS acceleration corresponding to the driver’s whole-body vibration increases from 0.68 to 1.03 m/s² when increasing the speed. Therefore, we found that the velocity of a tractor should be reduced while steering, and excessively large front-wheel steering angles should be avoided to increase driving comfort.

由于拖拉机主要在乡村道路上行驶，因此驾驶员可能会遭受通过座椅传播的有害振动。因此，应评估带有农用设备的拖拉机的驾驶舒适性。为了研究前向运动和前轮转向对带有农用设备的两轮驱动拖拉机驾驶舒适性的影响，我们建立了人机道路虚拟样机进行仿真，并进行了实验验证。首先，在D级随机道路上驾驶拖拉机，该拖拉机悬挂了农业设备，并以0°，12°，24°和36°的前轮转向角操作。同时，沿着X，Y和Z获得驾驶员经历的振动加速度轴具有根据ISO 2631-1标准定义的坐标系。当增加转向角时，对应于驾驶员全身振动的组合加权均方根（RMS）加速度从0.205增至0.909 m / s ²。然后，将前进速度作为变量，将前轮转向角设置为30°，并在拖拉机随机行驶4、5和6 km / h时获得驾驶员感受到的振动加速度-D路。与驾驶员全身振动相对应的总加权RMS加速度从0.68增至1.03 m / s ²当增加速度时。因此，我们发现在转向时应降低拖拉机的速度，并应避免过大的前轮转向角以提高驾驶舒适性。