The electrification of loader designs can utilise several power motor types. Hence, this study investigates the operational performance of pure electric-powered loaders matched with three types of motors. Firstly, for the ZL08 loader, it is proposed that a pure electric-powered loader structure adopts two motors to drive the walking and hydraulic systems separately. Secondly, the dynamic parameters of the two motors were matched, and then, a joint vehicle dynamics model of the control system, the Multi-Body Dynamics (MBD) module and the material Discrete Element Method (DEM) module, was established. Finally, the performance of the walking system with three motors was tested by inserting three materials and using accelerating and climbing methods. The operating performance of the hydraulic system was tested by shovelling and unloading three materials. Results show that when inserting difficult materials, the loader’s walking system with switched reluctance motors is 9.74–21.2% deeper than that with the other two motors and 11.7–56.2% faster at the same depth. The hydraulic system consumes 3–15.7% less energy when matched with a permanent magnet synchronous motor than the other two motors. Pure electric loaders have the best operating performance when the walking system is matched with a switched reluctance motor, and the hydraulic system is matched with a permanent magnet synchronous motor.
Sensorless Control of Permanent Magnet Synchronous Motor Based on the Improved Sliding Mode Observer
