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In the last decade, the relativistic magnetohydrodynamic (MHD) modelling of pulsar wind nebulae, and of the Crab nebula in particular, has been highly successful, with many of the observed dynamical and emission properties reproduced down to the finest detail. Here, we critically discuss the results of some of the most recent studies: namely the investigation of the origin of the radio emitting particles and the quest for the acceleration sites of particles of different energies along the termination shock, by using wisp motions as a diagnostic tool; the study of the magnetic dissipation process in high magnetization nebulae by means of new long-term three-dimensional simulations of the pulsar wind nebula evolution; the investigation of the relativistic tearing instability in thinning current sheets, leading to fast reconnection events that might be at the origin of the Crab nebula gamma-ray flares. [ABSTRACT FROM PUBLISHER]