Research On Steering Performance And Bucket’s Translational Control Of Skid-steer Loader

With the development of the economy, the market of the small constructionmachine is increasing. Because of its good flexibility, mobility and the goodperformance, the tiny-sized machine is getting more and more popular. In someaspects, its performance can compete with the large or medium-sized machinery’s.Small construction machinery began to play an important role in constrution. As arepresentative of small construction machinery, skid steer loader is widely used insmall jobsites and complex project.In research area, there is not enough reference about the skid steer loader. Ourunderstanding about skid steer loaders is still shallow The field has beenmonopolized by the foreign construction machinery suppliers. This paper can wideusers’ understanding of the skid steer loader. Taking GM750skid steer loader as anexample, the paper focus on the following periods.First the character of the skid steer loader is introduced, together with the thehost structure, powertrain and the steering principle. Based on this, the distributionof the axle load and calculation of the turning resistance is presented. Then slipsteering conditions is proposed.Thus, after the kinematics and dynamics analysis, the bucker’s shift conditionand the dynamic equation during the lifting process is put forward. Next themodeling and dynamics analysis with the ADAMS for the entire work cycle of theloader is well done.Finally, Using ATmega16, hardware design for the bucker’s lifting controlsystem is conducted. The hardware supplies a platform for the acquisition,transmission and processing of the information. A digtal PID controller is chosen toachieve the translational control of the bucket. Based on Matlab/Simulink, themathematical model and simulation is put forward.The steering condition and the analysis of the working device proposed here is thetheoretical basis for the design of the steering system and the work device.Themethod and the theory proposed can be directly used as a reference in the design ofskid steer loader.