CN113408050B - Wheel loader running stability analysis method - Google Patents

Wheel loader running stability analysis method Download PDF

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Publication number
CN113408050B
CN113408050B CN202110632665.4A CN202110632665A CN113408050B CN 113408050 B CN113408050 B CN 113408050B CN 202110632665 A CN202110632665 A CN 202110632665A CN 113408050 B CN113408050 B CN 113408050B
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wheel loader
axle
determined
vertical load
tire
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CN113408050A (en
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仇晓源
陈作
孙乐忠
曹源文
王成军
谢利丹
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Metong Heavy Machinery Co ltd
Chongqing Jiaotong University
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Metong Heavy Machinery Co ltd
Chongqing Jiaotong University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/02—Reliability analysis or reliability optimisation; Failure analysis, e.g. worst case scenario performance, failure mode and effects analysis [FMEA]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The invention provides a method for analyzing running stability of a wheel loader, which comprises the following steps: s1, collecting parameters of a running process of a wheel loader; s2, constructing a driving dynamics equation of the wheel loader, and determining the steering moment and the transverse moment of the wheel loader according to the driving dynamics equation; s3, determining the transverse load turning rate of the wheel loader; s4, comparing the determined current values of the steering torque, the transverse torque and the transverse load turning rate with set threshold values respectively, and if any current value is larger than the set threshold value, indicating that the running stability of the wheel loader is poor.

Description

Wheel loader running stability analysis method
Technical Field
The invention relates to a vehicle stability analysis method, in particular to a wheel loader running stability analysis method.
Background
The wheel loader structure comprises a front vehicle body, a rear vehicle body and a rear axle. The connection mode between every two is different, and the connection mode is the biggest structural characteristic, the front and rear vehicle bodies are connected in a hinge pin shaft type, and the rear vehicle body is connected with a rear axle in a swing bridge type. The size of the hinge angle is changed in a hydraulic transmission mode in the running process of the loader, so that the whole steering process can be realized. The biggest difference between a wheel loader and a road vehicle is the lack of a suspension system, a front wheel is directly connected with a front vehicle body, and a rear axle swings around a swing axle at a certain angle, so that the wheels are completely contacted with the ground to generate larger traction force. However, due to the characteristics of articulated steering, the mass center of the loader can shift laterally when the loader is steered, and a roll-over instability accident can be generated in a serious case. Meanwhile, most loaders work under extremely bad road conditions, so that the probability of driving instability is higher, and therefore, how to accurately analyze the driving stability of the wheel loader becomes a technical difficulty.
Disclosure of Invention
In view of this, the method for analyzing the driving stability of the wheel loader provided by the invention can analyze the wheel loader in various aspects, so that the stability of the wheel loader can be accurately analyzed, the analysis process is simple, the processing efficiency can be effectively improved, and the driving safety of the wheel loader can be ensured.
The invention provides a method for analyzing running stability of a wheel loader, which comprises the following steps:
s1, collecting parameters of a running process of a wheel loader;
s2, constructing a driving dynamics equation of the wheel loader, and determining the steering moment and the transverse moment of the wheel loader according to the driving dynamics equation;
s3, determining the transverse load turning rate of the wheel loader;
and S4, comparing the determined current values of the steering moment, the transverse moment and the transverse load turning rate with a set threshold value respectively, wherein if any current value is greater than the set threshold value, the running stability of the wheel loader is poor.
Further, in step S2, the dynamic equation of the wheel loader is:
Figure BDA0003104258220000021
wherein m is 1 Is the mass of the front body of the wheel loader, m2 is the mass of the rear body of the wheel loader, delta is the steering angle at which the wheel loader is traveling, phi is the advancing angle of the wheel loader, X1 is the distance between the center of mass of the front body of the wheel loader and the hinge point O between the front body and the rear body, X2 is the distance between the center of mass of the rear body of the wheel loader and the hinge point O between the front body and the rear body,
Figure BDA0003104258220000022
is the angle of slope of the road on which the wheel loader is travelling, L 1 Is the length of the front body, L 2 Length of rear vehicle body, I 1 Is the moment of inertia of the front body, I 2 Is the moment of inertia of the rear body, g is the acceleration of gravity, M O is steering torque ，M F Is a transverse moment; f is the lateral force of the wheel loader.
Further, the lateral load transfer rate LTR of the wheel loader is determined by:
Figure BDA0003104258220000031
wherein; f li Representing the vertical load on the left tire of the ith axle, F ri Represents the vertical load on the tire right of the ith axle, n is the number of axles, where n =2.
Further, the vertical load of the left tire of the 1 st axle is determined by:
Figure BDA0003104258220000032
the vertical load of the left tire of the 2 nd axle is determined by:
Figure BDA0003104258220000033
the vertical load of the right tire of the 1 st axle is determined by:
F B Δy B ＝m 1 gcosθΔy 1 +m 1 gcosθΔy 2 -m 1 (a 1 +gsinθcos(φ+θ))H 2 Δy D /B
the vertical load of the right tire of the 2 nd axle is determined by:
Figure BDA0003104258220000034
wherein: f A Showing the vertical load of the left tire of the 1 st axle, F B Representing the vertical load of the right tire of the 1 st axle, F C Showing the vertical load of the left tire of the 2 nd axle, F D Represents the vertical load, Δ y, of the right tire of the 2 nd axle A Representing the virtual displacement, Δ y, of the left tire of axle 1 1 Representing a virtual displacement, Δ y, of the front body D Virtual displacement of right tire of 2 nd axle, Δ y 2 Representing the virtual displacement, Δ y, of the rear body C Representing the virtual displacement, Δ y, of the left tire of the 2 nd axle B Virtual displacement of right tire of 1 st axle, theta denotes pitch angle, H 2 Indicates the height of the rear body from the ground, a 1 Is the acceleration at the centroid of the front body, a 2 The acceleration at the center of mass of the rear body.
Further, the acceleration at the front body centroid and the acceleration at the rear body centroid are determined according to the following method:
Figure BDA0003104258220000041
where v represents the vehicle running speed.
Further, the parameter Δ y is determined by the following method 1 ：
Δy 1 ＝Δθ 1 (L 1 -X 1 ) Wherein, Δ θ 1 The pitch angle of the front vehicle body is shown.
Further, the parameter Δ y is determined by the following method 2 ：
Figure BDA0003104258220000042
Wherein, delta theta 2 The pitch angle of the rear vehicle body is shown.
Further, the front body pitch angle Δ θ is determined by the following method 1 ：
Figure BDA0003104258220000043
Further, the rear body pitch angle Δ θ is determined by the following method 2 ：
Figure BDA0003104258220000044
The invention has the beneficial effects that: according to the invention, the wheel loader can be analyzed in multiple aspects, so that the stability of the wheel loader can be accurately analyzed, the analysis process is simple, the processing efficiency can be effectively improved, and the driving safety of the wheel loader is ensured.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a diagram of a kinetic model of the wheel loader of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings of the specification:
the invention provides a method for analyzing running stability of a wheel loader, which comprises the following steps:
s1, collecting parameters of a running process of a wheel loader;
s2, constructing a driving dynamics equation of the wheel loader, and determining steering torque and transverse torque of the wheel loader according to the driving dynamics equation;
s3, determining the transverse load turning rate of the wheel loader;
and S4, comparing the determined current values of the steering torque, the transverse torque and the transverse load turning rate with set threshold values respectively, and if any current value is greater than the set threshold value, indicating that the running stability of the wheel loader is poor.
In this embodiment, in step S2, the dynamic equation of the wheel loader is:
Figure BDA0003104258220000051
wherein m is 1 Mass of the front body of the wheel loader, m 2 Is the mass of the rear body of the wheel loader, delta is the steering angle at which the wheel loader is travelling, phi is the advance angle of the wheel loader, X 1 Is the distance, X, between the center of mass of the front body of the wheel loader and the hinge point O between the front body and the rear body 2 Is the distance from the center of mass of the rear body of the wheel loader to the hinge point O between the front body and the rear body,
Figure BDA0003104258220000061
is the angle of slope of the road on which the wheel loader is travelling, L 1 Is the length of the front body, L 2 Is the length of the rear vehicle body, I 1 Is the moment of inertia of the front body, I 2 Is the moment of inertia of the rear body, g is the acceleration of gravity, M O is direction changeMoment of force ，M F Is a transverse moment; f is the lateral force Of the wheel loader, as shown in fig. 2, where point O is the hinge point, point Of is the front body centroid and point Or is the rear body centroid.
In this embodiment, the lateral load transfer rate LTR of the wheel loader is determined by:
Figure BDA0003104258220000062
wherein; f li Representing the vertical load on the left tire of the ith axle, F ri Represents the vertical load on the tire right of the ith axle, and n is the number of axles, where n =2.
Specifically, the method comprises the following steps: the vertical load of the left tire of the 1 st axle is determined by:
Figure BDA0003104258220000063
the vertical load of the left tire of the 2 nd axle is determined by:
Figure BDA0003104258220000064
the vertical load of the right tire of the 1 st axle is determined by:
F B Δy B ＝m 1 gcosθΔy 1 +m 1 gcosθΔy 2 -m 1 (a 1 +gsinθcos(φ+θ))H 2 Δy D /B
the vertical load of the right tire of the 2 nd axle is determined by:
Figure BDA0003104258220000071
wherein: f A Showing the vertical load of the left tire of the 1 st axle, F B Right wheel showing the 1 st axleVertical loading of the tire, F C Showing the vertical load of the left tire of the 2 nd axle, F D Represents the vertical load, Δ y, of the right tire of the 2 nd axle A Representing the virtual displacement, Δ y, of the left tire of axle 1 1 Representing the virtual displacement, Δ y, of the front body D Virtual displacement of right tire of 2 nd axle, Δ y 2 Representing a virtual displacement, Δ y, of the rear vehicle body C Representing the virtual displacement, Δ y, of the left tire of the 2 nd axle B Virtual displacement of right tire of 1 st axle, theta represents pitch angle, H 2 Indicates the height of the rear body from the ground, a 1 Is the acceleration at the center of mass of the front body, a 2 The acceleration at the center of mass of the rear vehicle body, and B is the wheel track between the left wheel and the right wheel on the same axle.
Determining the acceleration at the front body centroid and the acceleration at the rear body centroid according to the following method:
Figure BDA0003104258220000072
where v represents the vehicle running speed.
The parameter Δ y is determined by 1 ：
Δy 1 ＝Δθ 1 (L 1 -X 1 ) Wherein, Δ θ 1 The pitch angle of the front vehicle body is shown.
The parameter Δ y is determined by 2 ：
Figure BDA0003104258220000073
Wherein, delta theta 2 The pitch angle of the rear vehicle body is shown.
Front body pitch angle Δ θ is determined by 1 ：
Figure BDA0003104258220000081
Rear body pitch angle Δ θ is determined by 2 ：
Figure BDA0003104258220000082
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (8)

1. A wheel loader running stability analysis method is characterized in that: the method comprises the following steps:
s1, collecting parameters of a running process of a wheel loader;
s2, constructing a driving dynamics equation of the wheel loader, and determining the steering moment and the transverse moment of the wheel loader according to the driving dynamics equation;
s3, determining the transverse load turning rate of the wheel loader;
s4, comparing the determined current values of the steering torque, the transverse torque and the transverse load turning rate with a set threshold value respectively, and if any current value is larger than the set threshold value, indicating that the running stability of the wheel loader is poor;
in step S2, the dynamic equation of the wheel loader is:
Figure FDA0003917854180000011
wherein m is 1 Mass of the front body of the wheel loader, m 2 Is the mass of the rear body of the wheel loader, delta is the steering angle at which the wheel loader is travelling, phi is the advance angle of the wheel loader, X 1 Is the distance, X, between the center of mass of the front body of the wheel loader and the hinge point O between the front body and the rear body 2 Is the distance between the center of mass of the rear body of the wheel loader and a hinge point O between the front body and the rear body，
Figure FDA0003917854180000012
Angle of slope, L, of the road on which the wheel loader is travelling 1 Is the length of the front body, L 2 Is the length of the rear vehicle body, I 1 Is the moment of inertia of the front body, I 2 Is the moment of inertia of the rear body, g is the acceleration of gravity, M O For steering torque, M F Is a transverse moment; f is the transverse force of the wheel loader; v represents a vehicle running speed.
2. The wheel loader travel stability analysis method according to claim 1, characterized in that: determining the transverse load transfer rate LTR of the wheel loader by:
Figure FDA0003917854180000021
wherein; f li Representing the vertical load on the left tire of the ith axle, F ri Represents the vertical load on the tire right of the ith axle, n is the number of axles, where n =2.
3. The wheel loader running stability analysis method according to claim 2, characterized in that: the vertical load of the left tire of the 1 st axle is determined by:
Figure FDA0003917854180000022
the vertical load of the left tire of the 2 nd axle is determined by:
Figure FDA0003917854180000023
the vertical load of the right tire of the 1 st axle is determined by:
F B Δy B ＝m 1 gcosθΔy 1 +m 1 gcosθΔy 2 -m 1 (a 1 +gsinθcos(φ+θ))H 2 Δy D /B
the vertical load of the right tire of the 2 nd axle is determined by:
Figure FDA0003917854180000024
wherein: f A Showing the vertical load of the left tire of the 1 st axle, F B Representing the vertical load of the right tire of the 1 st axle, F C Showing the vertical load of the left tire of the 2 nd axle, F D Represents the vertical load, Δ y, of the right tire of the 2 nd axle A Representing the virtual displacement, Δ y, of the left tire of axle 1 1 Representing a virtual displacement, Δ y, of the front body D Virtual displacement of right tire of 2 nd axle, Δ y 2 Representing the virtual displacement, Δ y, of the rear body C Representing the virtual displacement, Δ y, of the left tire of the 2 nd axle B Virtual displacement of right tire of 1 st axle, theta denotes pitch angle, H 2 Indicates the height of the rear body from the ground, a 1 Is the acceleration at the center of mass of the front body, a 2 Is the acceleration of the mass center of the rear vehicle body.
4. The wheel loader running stability analysis method according to claim 3, characterized in that: determining the acceleration at the centroid of the front vehicle body and the acceleration at the centroid of the rear vehicle body according to the following method:
Figure FDA0003917854180000031
where V represents a vehicle running speed.
5. The wheel loader running stability analysis method according to claim 3, characterized in that: the parameter Δ y is determined by 1 ：
Δy 1 ＝Δθ 1 (L 1 -X 1 ) Wherein, Δ θ 1 The pitch angle of the front vehicle body is shown.
6. The wheel loader running stability analysis method according to claim 3, characterized in that: the parameter Δ y is determined by 2 ：
Figure FDA0003917854180000032
Wherein, delta theta 2 The pitch angle of the rear vehicle body is shown.
7. The wheel loader running stability analysis method according to claim 5, characterized in that: front body pitch angle Δ θ is determined by 1 ：
Figure FDA0003917854180000041
8. The method for analyzing driving stability of a wheel loader according to claim 6, characterized in that: rear body pitch angle Δ θ is determined by 2 ：
Figure FDA0003917854180000042
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