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A seven-degrees-of-freedom (DOF) dynamic model was established based on the Lagrange equation to analyse the lateral stability and instability mechanism of an articulated wheel loader. A scale wheel loader was designed and manufactured to validate the dynamic model in two conditions, namely turning on slopes and passing over obstacles. Experimental data and simulated data fitted well on the whole, so the developed dynamic model was proved to be useful and could serve as an important tool to analyse the stability of wheel loaders. At last, the lateral stability of one ZL50 wheel loader was analysed by using this dynamic model. The results showed that there is a phenomenon of sudden stability losing during the wheel loader cornering due to the relative rotation between the subframe and the rear axle. The subframe can enhance the stability when the wheel loader is passing over obstacles but reduces the stability when it is turning. [ABSTRACT FROM AUTHOR]

This paper devotes both analytical and experimental efforts in developing a comprehensive dynamic model for an articulated steering wheel loader. The general motion of a wheel loader without suspension is described by seven degrees of freedom (DOF) (three for translation and four for rotation) in this model, which can be used to study the problem of wheel loader dynamics on slopes and over obstacles. A scale wheel loader was designed and manufactured to validate the dynamic model in three conditions (turning on level ground, turning on slopes, and passing over obstacles). The test results reasonably agree with the simulation results. The developed dynamic model was found to be useful and could serve as an important tool for analysing the stability of wheel loaders. [ABSTRACT FROM PUBLISHER]

The electrification of loader designs can utilise several power motor types. Hence, this study investigates the operational performance of pure electric-powered loaders matched with three types of motors. Firstly, for the ZL08 loader, it is proposed that a pure electric-powered loader structure adopts two motors to drive the walking and hydraulic systems separately. Secondly, the dynamic parameters of the two motors were matched, and then, a joint vehicle dynamics model of the control system, the Multi-Body Dynamics (MBD) module and the material Discrete Element Method (DEM) module, was established. Finally, the performance of the walking system with three motors was tested by inserting three materials and using accelerating and climbing methods. The operating performance of the hydraulic system was tested by shovelling and unloading three materials. Results show that when inserting difficult materials, the loader's walking system with switched reluctance motors is 9.74–21.2% deeper than that with the other two motors and 11.7–56.2% faster at the same depth. The hydraulic system consumes 3–15.7% less energy when matched with a permanent magnet synchronous motor than the other two motors. Pure electric loaders have the best operating performance when the walking system is matched with a switched reluctance motor, and the hydraulic system is matched with a permanent magnet synchronous motor. [ABSTRACT FROM AUTHOR]