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In order to analyze the steering dynamic characteristic of the skid steer loader, a cosimulation model of steering system based on theoretical analysis of skid steer loader steering process was established by using AMESim software platform and Motion software platform. The dynamic characteristics of unilateral, bilateral steering conditions and the load characteristics of steering process were analyzed through simulation and verified by experiment. The comparison of dynamic model and experimental results shows that the error between simulation data and experimental data is within 10%, and the model can be used in system matching and performance prediction.
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1. Introduction
Skid steer loader adopts hydrostatic driving technology and the traveling system adopts double closed-loop systems and the variable pump drive traveling motor which transmit power to the wheel via chains to rotate the tires. Since there is no differential device, when the vehicle is steering, it relies on the speed difference of both sides of the tire. Due to the current published relevant results which research the skid steering, load characteristics of skid steer loader are rare and the research results in other fields can be used.Therefore, this paper conducts the research from two aspects.The first one is skid theory of tracked vehicle and the main research results in this area include that BruceMaclaurin and others who use magic formula to study skid characteristics of tracked vehicles get good results, which proves that the magic formula for rubber tires can also apply to the vehicle skid theory [1, 2]. This can help establish the skid steering theory of wheeled skid steer loader. The other one is the load characteristics theory of the tire and the ground. Clarke and others who have researched on control method of wheeled skid robot steering process developed a corresponding control system which achieved good control accuracy [3-5]. Morales and others have researched the energy loss of tracked vehicle skid process [6]. Yi and others have analyzed the kinematics and dynamics characteristics of wheeled skid robot and designed the control system by using the Kalman filter [7]. Yang and others have simulated and analyzed the armored tracked vehicle steering characteristics by using MatLab/Simulink and analyzed the influence in the hydraulic system pressure of the vehicle speed change...