주행 및 작업성능 통합 시뮬레이션을 위한 휠로더 동역학 모델의 개발

This paper presents a 3D dynamic simulation model of a wheel loader. The objective of development of the wheel loader dynamic simulation model is to test the performance of the Wheel loader under both working and driving conditions by simulation. The wheel loader dynamic simulation model consists of 3 parts: Vehicle powertrain module, Hydraulic module for working and steering, and Vehicle dynamic module. Vehicle powertrain module consists of engine, torque converter and transmission, and Hydraulic module consists of pump, valve, cylinder and attachments. 3D dynamic simulation module is based on vehicle dynamics and multi-body (front and rear bodies) dynamic analysis method. Front and rear bodies are connected by pin in the center of steering system. Action/reaction forces and moments applied to the pin are calculated by solving front/rear dynamic simultaneous equations. Forces and moments at the pin are considered to analyze how they have an effect on the dynamics of wheel loader. The wheel loader dynamic simulation model is verified through real measurement, and it is shown that proposed dynamic simulation model can represent actual dynamics of wheel loader.