Modelling the Dynamics of a Load-Haul-Dump Vehicle
| Authors: | Craig Ian, University of Pretoria, South Africa
Dragt Bruce, University of Pretoria, South Africa
Camisani-Calzolari Fernando, University of Pretoria, South Africa |
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| Topic: | 4.4 Cost Oriented Automation |
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| Session: | Automation of Mining Vehicles and Equipment in Metal Industry |
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| Keywords: | kinematics, dynamics, LHD vehicle, slip angles, articulated vehicle |
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Abstract
This paper provides an overview of the derivation of a dynamic modelof a Load-Haul-Dump (LHD) vehicle. The model is derived using LagrangianDynamics and makes use of a simplified tyre model in an attempt to include theeffect of basic tyre dynamics. Simulation results obtained from the vehicle modelare provided and the results discussed and analysed.
