On nonlinear yaw-roll-pitch model of the dynamics of log hauling trucks

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On nonlinear yaw-roll-pitch model of the dynamics of log hauling trucks

Zhang, D.J. / Tabarrok, B.

A full nonlinear yaw-roll pitch model of the dynamics of log hauling trucks is developed based on Kane's equations. All the joint stiffnesses, suspension springs and dampers, and the vertical compliance of the tyres are considered in the model. The relationships amongst the articulation angles between the vehicle units, the sliding length of the drawbar, and the bounce of the trailing unit at the pintle hook joint, relative to the leading unit, have been introcuded into the governing equations of motion. The orthogonal complement array and the zero eigenvalue method are used to deal with the closed-loop constraint equation. The numerical results for directional responses of the system are checked against measured responses in field tests. The numerical results obtained for directional responses of the system are in good agreement with the measured results in field tests. As expected, good improvement in the responses based on the yaw-roll-pitch model against a nonlinear yaw model is obtained. The simulation study shows that the roll motion plays very important roles in the handling performance of log hauling trucks.