Introduction

International Standard Serial Number:

ISSN 1001-4551

Sponsor:

Zhejiang University;

Zhejiang Machinery and Electrical Group

Edited by:

Editorial of Journal of Mechanical & Electrical Engineering

Chief Editor:

ZHAO Qun

Vice Chief Editor:

TANG ren-zhong,

LUO Xiang-yang

Tel:

86-571-87041360,87239525

Fax:

86-571-87239571

Add:

No.9 Gaoguannong,Daxue Road,Hangzhou,China

P.C:

310009

E-mail:

meem_contribute@163.com

Lateral dynamic modeling of articulated wheeled loader
Published:2022-02-23 author:WANG Shun-jie, LIU Qian-jie, LI Chen-yang, et al. Browse: 1278 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.

Advanced Search
Online Office System
  • Chinese Core Periodicals
  • Chinese Sci-tech Core Periodicals
  • SA, INSPEC Indexed
  • CSA: T Indexed
  • UPD:Indexed


2010 Zhejiang Information Institute of Mechinery Industry

Technical Support：Hangzhou Bory science and technology

You are 1895221 visit this site