Longitudinal vehicle dynamics model for construction machines with experimental validation

Abstract

Construction machines represent a particular set of difficulties when modelling their system dynamics. Due to their generally low velocities and unorthodox operating conditions, the standard modelling equations used to simulate the behaviour of highway vehicles can have a poor behaviour for these systems. This paper sets forth a vehicle model which is suitable for construction machines, which travel at low velocities and encounter significant external forces in daily operation. It then shows the work done in validating the machine model with experimental data. First, the overall vehicle dynamics are developed, including a model for the machine behaviour when pushing against a resistive force. Then, a wheel force generation model suitable for low-velocity systems is discussed. Finally, pertinent experimental results are presented. Two different model validation tests were run. Both tests generated results which were matched well by the simulation model. In fact, the model matches experimental data reasonably well for both roading and pushing conditions. This indicates that the modelling methods described in this work are appropriate for the modelling of low-velocity systems such as wheel loaders and other construction machinery.

Traction Control Development for Heavy-Duty Off-Road Vehicles Using Sliding Mode Control

“…However, heavyduty machines are unique, as their systems tend to have important additional dynamics, such as those described by Wong [6] and Andreev [7]. Therefore, the author's research group generated and validated a dynamic model for heavy-duty off-road machines [8]. This model was the basis for the nonlinear model shown in this work.…”

“…The vehicle dynamics equation for this heavy-duty system were developed and validated in more detail in [8], but they are summarized here for further discussion. It should be noted that the controller will run separately on each wheel, so a quarter-car model (i.e.…”

“…Furthermore, Equation ( 1) contains the sgn function, which has a significant discontinuity at zero. As described in [8], the wheel slip ratio κ has its own dynamics, making it a state for the system. Its dynamics are described as shown in Equation ( 4).…”

Optimisation-Based Power Management System for an Electric Vehicle with a Hybrid Energy Storage System

“…However, this paper neglects the temperature dependencies of parameters for simplicity. Note that reference [38] presents more generic governing equations of a vehicle which are useful for the formulation of an energy management problem.…”

Modified Dynamic Model for Longitudinal Motion of Ground Vehicles

“…It is notable that in the forward simulation of longitudinal motion, usually drive wheel(s) is treated as an additional degree of freedom (DOF) in order to observe the longitudinal tire slip, which is then being used to obtain the tractive force by means of an appropriate tire model. However, pure rolling of the wheels is assumed prior to extracting the vehicle's equation of motion [2,3]. This assumption makes the model simpler, though model accuracy decreases as far since tire slip inevitably occurs whenever a driving torque is applied to the wheel [4].…”