Modeling And Simulation For Dynamics Of Electric-Drivern Articulated Dump Truck

Articulated dump truck is a kind of non-road transport equipment which is designed for harsh weather and complex road. Compared with rigid dump truck, the hinge introduces additional degree of freedom which leads to possessing more maneuverability and more extensive adaptability.With the constant exploitation of mineral resources and the rapid development of construction engineering industry, a growing number of articulated dump truck are more and more comprehensively applied. So, there is scientific researching and engineering significance to establishing the virtual prototype dynamic model and studying the dynamic behaviors of articulated dump truck.In this paper, based on 60t electric-driven ADT designed by CSR Guangzhou electric locomotive Co., Ltd. A virtual prototype collaborative simulation model was established. Considering that there is an elastic coupling between the steering hydraulic cylinder and the steering hydraulic piston installed to the front vehicle body and the rear vehicle body, a hydraulic steering simulation system was built in AMESim.Since the mechanism such as drive shafts and the differential units are moved away, to avoid the slip and the tire over-wear of driving wheels during steering, this paper designed an electronic differential control strategy based on "tyre working states and adhesion behavior recognition", using this electronic differential control strategy, an electric wheel driving torque control model of the electric-driven ADT was established in Simulink software.To realize the efficient integration of dynamics、hydraulic and operating system simulation model, this paper established a Simulink based simulation environment, used the software interface to integrate SIMPACK dynamic virtual simulation model、AMESim hydraulic steering simulation system simulation model and Simulink electric wheel driving torque control model into Simulink environment, established the SIMPACK/AMESim/Simulink co-simulation model with parameter association.By using the SIMPACK/AMESim/Simulink co-simulation model, the ADT virtual prototype has been carried out vehicle ride comfort simulation tests on random roads according to the relevant national vehicle ride comfort criterion. In addition, the ADT virtual prototypes using the "equal torque distribution electric wheel driving torque control strategy" and the "electric wheel driving torque control based on tyre working states and adhesion recognition strategy" separately have been carried out simulation tests on handling stability including steady cornering test and step steer test. Based on the simulation tests, assessment of vehicle smoothness and handling stability have been conducted according to the relative national standards.The results of the study can provide theoretical basis for the design of electric-driven ADT.