基于动态横向转移载荷的轮式装载机侧倾稳定性研究

为研究轮式装载机动态侧倾稳定性,在考虑车身侧倾和动臂俯仰的基础上,构建基于拉格朗日法和包含动坐标系的轮式装载机十自由度侧倾动力学模型,求解出非平稳路面与发动机耦合激励下的侧倾响应,推导出表征侧倾稳定性的动态横向转移载荷方程,并分析了横向坡度角、动臂结构参数和转弯速度变化对侧倾角与动态横向转移载荷的影响趋势。结果表明:车身侧倾角和动态横向转移载荷随横向坡度角、动臂质量和举升角以及转弯速度的增加而不断增大,但横向坡度角和动臂举升角对侧倾稳定性的影响灵敏度较高;当车身侧倾角超过临界横向坡度角时,两侧车轮垂向载荷发生完全动态横向转移,使一侧车轮产生离地现象进而导致侧倾;上述模型和动态横向载荷转移表征方法可为后续的性能优化提供研究方法和理论基础。

Roll stability of wheel loader based on dynamic lateral transfer load

In order to study the dynamic roll stability of wheel loader,a ten-degree-of-freedom roll dynamics model of wheel loader with dynamic coordinate system was constructed based on the Lagrangian method considering body roll and boom pitch.The roll response under the coupling excitation of non-stationary road surface and engine was calculated and the dynamic lateral transfer load equation was deduced to characterize the roll stability.The influence trend of lateral slope angle, boom structure parameters and turning speed parameters on the roll angle and dynamic transfer load was analyzed.The results show that the body roll angle and dynamic lateral transfer load raises with the increase of lateral slope angle, boom mass and lifting angle, as well as turning speed.And the lateral slope angle and boom lifting angle have higher sensitivity on the roll stability.When the body roll angle exceeds the critical lateral slope angle, the vertical load on both sides of the wheels completely shifts,laterally and dynamically.Causing the fact that one side of the vehicle is off the ground, which leads to roll.The above models and dynamic lateral load transfer characterization methods can provide a research method and theoretical basis for subsequent performance optimization.