Tyre modelling for an autonomous articulated wheel loader conducting a V-shape loading cycle simulation

Virtual product developments (VPDs) tools have a great effect on reducing the cost of development, which explains the considerable amount of attention they received lately from researchers. In this work, two different VPD tyre models, restricted fully non-linear and enhanced non-linear transient models, are tested through modelling and simulation. A detailed multibody mechanical system model of a large wheel loader conducting a V-shape loading cycle was used to test the performance differences between the two transient tyre models. VPD simulations show that both tyre models enable the operator (controller) to drive the machine tracking the desired path; however, the enhanced non-linear tyre model shows larger deviation and less operator comfort when compared with the restricted non-linear transient tyre model. Results also show the ability of the restricted tyre model to produce higher forces and moment to keep the machine on track.