Study on Roll Instability Mechanism and Stability Index of Articulated Steering Vehicles

Table 1

Parameters of the scaled ASV and the ZL50 wheel loader.

Parameters	Meanings and units	Value
		Scaled ASV	ZL50 wheel loader
	Total mass of ASV (kg)	86.5	16747.4
	Front body mass (kg)	43.8	6979.8
	Rear body mass (kg)	26.1	8896.0
	Rear axle mass (kg)	16.5	871.6
	Moment of inertia of front body (kg·m^2)	5.31/14.2/13.2	5248/32310/32977
	Moment of inertia of rear body (kg·m^2)	3.51/6.10/4.20	5842/14982/13228
	Moment of inertia of rear axle (kg·m^2)	1.71/3.13/3.85	1428/1238/1431.0
	CG of front body (m)	(0.477, 0, 0.111)	(1.80, 0.03, 0)
	CG of rear body (m)	(−0.328, 0, 0.270)	(−1.86, 0.06, 0.61)
	CG of rear axle (m)	(−0.391, 0, −0.167)	(−1.67, 0, −0.41)
	Tread (m)	0.70	2.30
	Distance between the oscillating pin and the limit position (m)	0.12	0.47
	Distance between the steering pin and the front axle (m)	0.53	1.55
	Distance between the steering pin and the rear axle (m)	0.40	1.67
	Tire radius (m)	0.21	0.87
	Distance between the oscillating pin and the rear axle (m)	0.18	0.32
	Longitudinal stiffness of tire (N/m)	1.76 × 10^5	9.7 × 10^6
	Cornering stiffness of tire (N/deg)	8.16 × 10^4	4.8 × 10^6
	Vertical stiffness of tire (N/m)	5.1 × 10^4	2.9 × 10^6
	Vertical damping of tire (N·s/m)	3.3 × 10^3	4.27 × 10^5
	Moment of inertia of wheel (kg·m^2)	0.1	117.4
	Contact stiffness (N/m)	1 × 10^8	1 × 10^8
	Contact damping (N·s/m)	1 × 10^4	1 × 10^4
	Maximum angle of swing bridge (deg)	15	15