Abstract: This paper presents the modelling and simulation of a stable angle-based instability threat indicator for articulated off-road vehicles. First, a stable angle is represented by the vertical forces of four wheels and steering angle of an off-road articulated steer vehicle. Then a vehicle prototype model is built based on a specific wheel loader type and a tyre/terrain model. Finally, the prototype model and tyre/terrain model are imported to the multi-body dynamics analysis software-ADAMS to conduct a number of simulations using the stable angle-based instability threat indicator. Simulation results indicate that a stable angle of 80.5° is the threshold angle for lateral instability, and a stable angle of 90° is the threshold angle for longitudinal instability of this model. Compared with the traditional instability indicating methods for off-road vehicles, the proposed stable angle-based method is more efficient and can deal with both lateral and longitudinal instability of an articulated vehicle effectively. Keywords: modelling; off-road articulated steer vehicle; instability threat indicator; ADAMS simulation. Reference to this paper should be made as follows: Zhu, Q.Y., Chen, H.Y., Yi, J., Wen, C.L. and  Modelling of stable angle-based instability threat indicator for articulated off-road vehicles Huosheng Hu is a Professor in School of Computer Science & Electronic Engineering at University of Essex, UK, leading the robotics research. His research interests include robotics, human-robot interaction, embedded systems, mechatronics and pervasive computing. He has published over 380 papers in journals, books and conferences in these areas. He is a Fellow of the IET and the InstMC (UK), a senior member of IEEE and ACM. He currently services as an
Therefore, a stable angle is proposed as a rollover indicator based on the steering angle of the vehicle and normal forces on four wheels to characterise the instability of an articulated vehicle effectively REF . But it is difficult in practice to measure the normal forces on four wheels.
Modelling of stable angle-based instability threat indicator for articulated off-road vehicles
IJCAT
IJCAT
Engineering Computer Science