Abstract: In view of the problems of driving instability that often occurred during the driving of wheel loader under multiple road conditions, the stability calculation and dynamic model simulation method were used to analyze the driving stability of wheel loader under multiple road conditions. The corresponding dynamics model was established, and the stability and instability angle of the wheel loader under various working conditions on vertical and horizontal slopes were calculated. With the help of ADAMS, the tipping test bench model was established to simulate the driving stability of wheel loader under multiple road conditions, and the corresponding instability angle was obtained. Through the error analysis of the instability angle obtained by calculation and experiment, the reliability of the simulation results was verified. The research results show that the error rates of instability angles under 6 working conditions on vertical and horizontal slopes are 5.13%, 4.76%, 2.71%, 5.56%, 13.04% and 10.53% respectively, which are all within a reasonable range. Among them, no-load uphill, full load downhill on longitudinal ramp and full load on transverse ramp are dangerous conditions with frequent tipping accidents.

Key words: vehicle engineering, wheel loader, multiple road conditions, stability, dynamics model, tipping test bench, reliability

摘要： 针对轮式装载机在多路况下行驶过程中经常发生失稳问题，利用稳定度计算和动力学模型仿真相结合的方法，对轮式装载机在多路况下的行驶稳定性进行分析，建立相应动力学模型，计算出轮式装载机在纵横斜坡上多种工况的稳定度和失稳角。借助于ADAMS建立倾翻试验台架模型，对多路况下轮式装载机的行驶稳定性进行仿真试验，得到对应的失稳角。通过对计算和试验得到的失稳角进行误差分析，验证了仿真结果的可靠性。研究结果表明：纵横坡道上6种工况下的失稳角误差率分别为5.13%、4.76%、2.71%、5.56%、13.04%、10.53%，均在合理范围之内，其中纵向坡道上空载上坡、满载下坡和横向坡道上满载工况为倾翻事故多发危险工况。

关键词: 车辆工程, 轮式装载机, 多路况, 稳定性, 动力学模型, 倾翻试验台架, 可靠性