Modeling and Verification of an Acquisition Strategy for Wheel Loader’s Working Trajectories and Resistance

• Published in: Sensors (Basel, Switzerland) Vol. 22; no. 16; p. 5993
• Main Authors: Wang, Shaojie, Yin, Yue, Wu, Yanfeng, Hou, Liang
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.08.2022; MDPI
• Subjects: Automobiles; Control algorithms; Coordinate transformations; data collection; Friction; Kinematics; Measurement; Sensors; Simulation; wheel loader; Wheels; working resistance; working trajectory; China
• ISSN: 1424-8220; 1424-8220
• DOI: 10.3390/s22165993

To overcome the difficulty of collecting the working resistance and working trajectory of a wheel loader, this paper constructs a statics model of the bucket working resistance and a kinematics model of the working trajectory in the shoveling process and analyzes the key parameters of measuring the working resistance and working trajectory. Based on this, a working resistance and working trajectory acquisition strategy is proposed. To verify the effectiveness of the acquisition strategy, the in-service operation data of fine sand and loose soil shoveled by the wheel loader are collected and analyzed. Then, the test-fitted working resistance and working trajectory are obtained, and the working trajectory is input into the RecurDyn–EDEM co-simulation model to obtain the simulation-fitted working resistance. Considering the complex working conditions of the wheel loader, it is difficult to obtain accurate working resistance, and the actual working resistance is also a relative value. Therefore, a strong correlation between the two curves indicates that the acquisition strategy of the wheel loader’s working trajectory and working resistance proposed in this paper is feasible.