Dynamic modeling and simulation of snowplough: normal operation and icepack impact

Three types of models pertaining to the normal operation and icepack impact of snowploughs are presented. A general method of deriving a dynamic model for multiple blade snowploughs is developed. This model includes all the nonlinear terms against exciting dynamic models, which are derived under the assumption of small pitch motion and roll motion. A force model is developed to estimate the casting forces acting on the blade. An icepack impact model is developed to simulate the dynamic performance of the snowplough under impact caused by an icepack. Simulation shows that if the rear tire cornering stiffness may be increased, the yaw motion and the lateral motion of the snowplough can be remarkably reduced. This may enable a driver to maintain the snowplough heading through use of both steering and braking actions