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Lateral dynamic modeling of articulated wheeled loader

Published:2022-02-23 author:WANG Shun-jie, LIU Qian-jie, LI Chen-yang, et al. Browse: 716 Check PDF documents

Lateral dynamic modeling of articulated wheeled loader

WANG Shun-jie, LIU Qian-jie, LI Chen-yang, YE Jun-jun, ZHU Qing-yuan

(Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361102, China)

Abstract: Articulated wheeled engineering vehicles were characterized by the strong non-linear properties, such as variable structure, variable center of gravity and variable loads.Aiming at the problems above, taking a typical articulated wheeled engineering vehicle as an example,the lateral dynamics model considering the hydraulic steering system and stability constraints was developed and analyzed.Firstly, the working principle of the hydraulic steering system was analyzed. Then, the kinematic model of front and rear body for the articulated wheeled engineering vehicles was established through the conversion of its own coordinate system and global coordinate system.Furthermore, combining with the simplified tire model, the dynamics model of the articulated engineering vehicle on slope was derived, and the constraints on the dynamic’s characteristics of the vehicle dynamics model were analyzed. Finally, the steering driving experiments were carried out on the 1∶4 scale prototype, and the experiments data were analyzed. The results indicate that the root mean square errors of articulated angle, lateral acceleration, curvature and vehicle driving trajectory are respectively 1.71°, 0.89m/s2, 0.05m-1, 0.13m. The established dynamics model is able to simulate the lateral dynamics characteristics of the articulated wheeled engineering vehicle, and it can achieve an accurate description of the variable characteristics of vehicle dynamics while driving in unstructured environments.

Key words: articulated wheeled loader; lateral stability; kinematic model; dynamic model

WANG Shun-jie, LIU Qian-jie, LI Chen-yang, et al. Lateral dynamic modeling of articulated wheeled loader［J］.Journal of Mechanical & Electrical Engineering, 2021,38(12):1529-1537.

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