Analysis of the Dynamic Modeling Method of Articulated Vehicles

Abstract

Most of the existing research related to the handling stability of articulated vehicles takes the front wheel angle as input and neglects the influence of the steering system and regards these vehicles as moving in planes that parallel the ground plane. The established dynamic model cannot meet the requirements of stability control under unmanned and high-speed working conditions. This research proposed a fusion modeling method based on the kinematics and dynamics of vehicles to improve the precision of a driving dynamic model. The proposed method initially took the steering wheel angle as input to establish the kinematic model for the corresponding relation of the hydraulic system flow and pressure, the articulated angle of front and rear frames, and the output force of left and right steering hydraulic cylinders. A dynamic model considering the axle load transfer and interactions between the front frame and the rear body in a threedimensional coordinate system was then established. A driving dynamic model of an entire vehicle was also constructed by coupling the kinematic and dynamic models. Finally, real vehicle test data of a 60-ton articulated vehicle were used to verify the proposed Automatic Dynamic Analysis of Mechanical Systems (ADAMS) driving model in this study. Results confirm that the error about the steady-state yaw rate in the simulation and real vehicle tests did not exceed 0.01 rad/s. Therefore, the established driving dynamic model can describe the dynamic response accurately. This study concludes that the proposed fusion modeling method based on the combination of kinematics and dynamics can effectively improve the accuracy of the articulated vehicle model and further provide a technical reference for the study on a driving stability control strategy.

Estimation of articulated angle in six-wheeled dump trucks using multiple GNSS receivers for autonomous driving

“…To make an existing dump truck operate automatically, it is required to operate the steering wheel, accelerator pedal, and brake pedal of the dump truck in some way. In some studies, dump trucks are directly operated by controlling their hydraulic system [8,9]. However, this mechanism of operation is difficult for users because construction machinery manufacturers do not disclose vehicle information.…”

Concept and Preliminary Simulations of a Driver-Aid System for Transport Tasks of Articulated Vehicles with a Hydrostatic Steering System

“…The necessity of using more advanced models of articulated vehicles and a hydraulic steering system was confirmed [3]. Widely used linear models show relatively low accuracy and are not suitable for solving stability problems.…”

“…Lopatka et al [2] indicated that this speed for articulated vehicles is mainly limited by the snaking phenomenon-low direction stability of machine movement. According to Meng et al [3], the average speed of an articulated hauler on construction sites is about 25 km/h, with a top speed of 54 km/h. According to previous studies [2,4,5], low directional stability demands higher effort from drivers, increasing their concentration levels; additionally, cases of dynamic loads on bearings in joints and in the hydraulic cylinder are a serious problem.…”

A critical review on automation of steering mechanism of load haul dump machine

“…To improve the precision of the steering system model of the LHD machine, Meng et al 27 proposed fusion modeling method using its kinematics and dynamics. The complete kinematic steering model based on geometric relations, dynamic steering model considering forces acting at the each component and modeling of hydraulic subsystem using pressure flow equations of the articulated LHD vehicle has been developed.…”