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The traditional hydraulic steering mode in articulated motor-driven vehicle makes the vehicle structure complex. Further more, the forces between the front and rear part of the articulated vehicle could damage the articulated joint body in the process of vehicle steering. However, skid steering mode could make the vehicle steer with the different speed of each wheel, which is flexible without hydraulic steering system. The purpose of this paper is to introduce the principle of skid steering mode in articulated motor-driven vehicle. In this paper, the theory of traditional wheeled vehicle’s skid-steering mode and hydraulic steering mode of articulated vehicle are used to establish the in-situ skid-steering kinematic and dynamic model. Based on the model, the vehicle trajectory and the dynamic relationships among the body structure of the vehicle, longitudinal forces, lateral forces of each wheel are described.

The mathematic model and co-simulation model for distributed-drive articulated heavy vehicles (DAHVs) are developed along with the techniques for its satisfactory verification. The objectives of this paper are to introduce and verify the researches about the assist-steering method for DAHVs. The theory of this proposed assist-steering method in this paper distinguishes it from the traditional direct yaw moment control (DYC) method or assist-steering methods in the previous studies. Furthermore, the co-simulation model developed by MATLAB/Simulink, ADAMS, and AMESim is more reasonable than the traditional methods with simple virtual models, which can replace the real test vehicle for the verification of proposed assist-steering method. Field tests were conducted with a 35t DAHV to verify the models with the comparison of vehicle responses.

Off-road dump truck body is exposed to abrasive wear during handling of granular materials. The wear rate of body of dump truck has direct influence on maintenance and replacement during its service process. In this paper the discrete element method (DEM) is used to simulate the granular materials of dump truck. The wear of body floor during one dumping process can be achieved by cosimulation of FEM-DEM. The wear depth variation of body has the stochastic characteristic which can be modeled by Geometric Brownian Motion (GBM). The two parameters in the stochastic differential equation, drift coefficient and diffusion coefficient, can be estimated by the wear depth measuring data. It is possible to quantitatively predict the wear evolution of every grid point of the body floor by solving this stochastic differential equation. The simulation result of the wear model is helpful to optimize design of off-road dump truck body.

As construction vehicles become electrified and more intelligent, some technologies are increasingly being applied in optimal controlling vehicle dynamics and driving behavior. Manned articulated vehicles in underground mine have drawbacks such as high steering energy consumption and harsh working environment for drivers, which can be solved by above techniques. The distributed-drive articulated vehicles (DDAV) can generate the yaw moment by the reasonable allocation of each wheel driving force, which can reduce the energy consumption by assisting the hydraulic steering system in steering. In this paper, the dynamic programming (DP) is used to study the optimal torque distribution while the vehicle following the reference path with minimizing the energy consumption. Firstly, combined with the tentacle algorithm, optimal control inputs and energy consumption of the vehicle were derived from DP under each tentacle.