Research Article
Control Methods for Roll Instability of Articulated Steering Vehicles
Table 1
Parameters of the scaled ASV and the ZL50 wheel loader.
| | Parameters | Meanings and units | Value |
| | Total mass of ASV (kg) | 16747.4 | | Front body mass (kg) | 6979.8 | | Rear body mass (kg) | 8896.0 | | Rear axle mass (kg) | 871.6 | | Moment of inertia of front body (kg⋅m2) | 5248/ 32310/ 32977 | | Moment of inertia of rear body (kg⋅m2) | 5842/ 14982/ 13228 | | Moment of inertia of rear axle (kg⋅m2) | 1428/ 1238/ 1431.0 | | CG of front body (m) | (1.80, 0.03, 0) | | CG of rear body (m) | (−1.86, 0.06, 0.61) | | CG of rear axle (m) | (−1.67, 0, −0.41) | | Tread (m) | 2.30 | | Distance between the oscillating pin and the limit position (m) | 0.47 | | Distance between the steering pin and the front axle (m) | 1.55 | | Distance between the steering pin and the rear axle (m) | 1.67 | | Tire radius (m) | 0.87 | | Distance between the oscillating pin and the rear axle (m) | 0.32 | | Longitudinal stiffness of tire (N/m) | | | Cornering stiffness of tire (N/deg) | | | Vertical stiffness of tire (N/m) | | | Vertical damping of tire (N⋅s/m) | | | Moment of inertia of wheel (kg⋅m2) | 117.4 | | Contact stiffness (N/m) | | | Contact damping (N⋅s/m) | | | Maximum angle of swing bridge (deg) | 15 |
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