Abstract
Wheel loader is off-road vehicle and works on uneven terrain, unexpected banks or steep slopes. In order to improve the ride and stability of the vehicle, this study mainly focuses on how to adjust the parameters of hydropneumatic suspension through the identification of road conditions. Firstly, the multibody model of a wheel loader with hydropneumatic suspension is developed by RecurDyn in a co-simulation with MATLAB/Simulink. Secondly, a method of road level recognition based on learning vector quantization neural network is proposed to accurately identify the level of roads on which the wheel loader travels. Then, the hydropneumatic suspension parameters are optimized by using the particle swarm algorithm. A fuzzy controller is established based on the optimized parameters of the hydropneumatic suspension to realize the active adjustment of the suspension parameters under different road levels and driving speeds. Finally, a virtual prototyping model is used to analyse the influence of the active adjustment of suspension parameters on the vertical vibration under different driving conditions. Results show that the fuzzy controller can reasonably adjust the parameters of hydropneumatic suspension according to the identified road condition and effectively reduce the vertical vibration of the wheel loader.
Highlights
Wheel loaders are mainly used for removing topsoil, loading fragmented rock and ore from production bench and cleaning operation sites
Loader when driving on different combinations of roads are analysed, and the results show that the fuzzy control of hydropneumatic suspension parameters on the basis of road level recognition can effectively improve the comfort of the wheel loader
Wheel loaders that travel on unstructured roads experience severe vibration and poor stability
Summary
Wheel loaders are mainly used for removing topsoil, loading fragmented rock and ore from production bench and cleaning operation sites. Rehnberg and Drugge[5] developed the virtual multibody models of a wheel loader with and without axle suspensions to investigate the effect of introducing axle suspension on vehicle ride performance. Previous studies have shown that mounting a suspension system on a wheel loader can significantly reduce vehicle vibration These studies neither optimized the suspension system based on loader driving conditions nor actively adjusted the suspension parameters. A wheel loader with interconnected hydropneumatic suspension is developed to achieve improved ride performance. Road level recognition and active adjustment of hydropneumatic suspension parameters are investigated through a multibody simulation model. The second section describes the wheel loader with interconnected hydropneumatic suspension and the developed multibody simulation model. Many previous studies have given mathematical expressions for interconnected hydropneumatic suspensions,[10,11] the fluid pressure in chambers I and II of struts fl and fr can be expressed as 8 >>>>>>>>>>>>>>>>>< >>>>>>>>>>>>>>>>>:
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