Dynamics modeling and analysis on lateral stability of articulated wheel loaders

铰接轮式装载机具有变结构、变载荷、变质心的特点，且常工作于室外非结构地面环境下，因而侧向稳定性较差，极易发生侧翻事故。现有研究表明，轮式装载机失稳主动安全控制是避免事故发生最有效的方法。而要实现主动安全控制，必须构建侧向动力学模型，深入分析临界失稳过程中车身姿态及运动学参数等关键参数的演变趋势和对失稳的影响机制。基于此，本文重点研究了六自由度的动力学模型构建，并搭建铰接轮式装载机实物样机和虚拟样机，通过对比实验验证了动力学模型的可靠性，同时基于构建的动力学模型深入分析了铰接轮式装载机侧向失稳机理。论文的具体工作包括： （1）搭建了铰接轮式装载机六自由度侧向动力学模型；论述了铰接轮式装载机车体...Due to the frequently changes of body structure, load and centroid position of articulated wheel loaders, as well as it often works on unstructured ground, it has poor lateral stability and is prone to rollover. Researches show that the active control is themost effective way to avoid accidents. To realize active control, the mechanism of the rollover instability needs to be researched by dynamic...学位：工学硕士院系专业：航空航天学院_机械电子工程学号：1992014115287