Longitudinal vehicle dynamics model for construction machines with experimental validation

Construction machines represent a particular set of difficulties when modelling their system dynamics. Due to their generally low velocities and unorthodox operating conditions, the standard modelling equations used to simulate the behaviour of highwayvehicles can have a poor behaviour for these systems. This paper sets forth a vehicle model which is suitable for construction machines, which travel at low velocities and encounter significant external forces in daily operation. It then shows the work done invalidating the machine model with experimental data. First, the overall vehicle dynamics are developed, including a model for the machine behaviour when pushing against a resistive force. Then, a wheel force generation model suitable for low-velocity systems isdiscussed. Finally, pertinent experimental results are presented. Two different model validation tests were run. Both tests generated results which were matched well by the simulation model. In fact, the model matches experimental data reasonably well for bothroading and pushing conditions. This indicates that the modelling methods described in this work are appropriate for the modelling of low-velocity systems such as wheel loaders and other construction machinery.