Study On Anti-slip Performance Of Loader Limited Slip Differential Based On Pavement State Recognition

Due to the complicated working environment of wheel loaders,wheel loaders often experience excessive degrees of over-rotation of the drive wheels when driving and working on sites with separated road surfaces and uneven road surfaces.The excessive slip of the tire can greatly reduce the loosening,power,economy and work efficiency of the loader.The ASR can effectively improve the handling stability and driving safety of vehicles under different road conditions.It has important engineering significance and research value to effectively reduce the rapid wear and tear of the tire caused by excessive slip of the drive wheel and improve the work efficiency of the project.Based on the review of relevant papers and data at home and abroad,the paper takes ZL50 wheel loader as the research object.First of all,the composition and structure of powertrain system of ZL50 loader are analyzed.Based on this,the mathematic models of driving dynamics of engine matches the torque converter,transmission,Limited slip differential,driving wheel,tire and loader are established respectively as well as steering kinematics dynamics model.According to the mathematical model of each component of powertrain system established in the SIMULINK simulation environment to build the corresponding simulation model.Secondly,based on the shortcoming of human experience on the target control of loader slip ratio,a method of road surface status recognition based on driving angular acceleration is proposed.The method is used to identify the optimal slip ratio under different road conditions as a control target of the anti-skid system and build a corresponding simulation model of the road surface identification system.Thirdly,given the advantages and disadvantages of fuzzy control and PID control algorithm,this paper uses fuzzy PID compound control algorithm.Using MATLAB toolbox,a twodimensional fuzzy controller is designed,including the membership function of input and output variables and the design of fuzzy control rules.The corresponding SIMULINK simulation model is built based on the design of composite controller.Combining with the anti-skidding control method,control algorithm and the established road surface condition identification system and the vehicle dynamics system model,the loader-driven anti-skid control system is designed and the SIMULINK simulation model of the entire skid-proof system of the loader is built.Finally,the control strategy of the limited slip differential is studied.Under the condition of separation pavement simulation,the wheel loader straight and steering conditions are simulated and verified.Through the analysis and comparison of simulation results,the application of antiskid control significantly improves the driving performance of the loader with no anti-skid control and effectively suppresses.The low-traction pavement drive wheel over-slip,and verify the effectiveness of the design of the road status recognition method and control algorithm reliability.