One of the most significant goals of earthmoving equipment is to maximize productivity during loading cycles. A real-time knowledge of the forces exchanged between the machine implement and the surrounding, that is, while digging, can be used in different ways to increase productivity. It can be used to determine the amount of material moved by the machine; or to find the optimal bucket trajectory; moreover, as input to traction control systems. This article presents an online force estimation algorithm able to predict vertical and horizontal forces exchanged between the front-loader and the surrounding environment, as well as the reaction forces through the implement itself. Taking the case of a 14-ton wheel loader as reference, this article illustrates the development of a simulation model for the analysis of the machine digging system, along with the instrumentation and testing of the proposed estimation algorithm. The model is divided into two sections describing, respectively, system kinematic and system dynamics. The kinematic model of the front-loader is compared against measurements, and results show an average error lower than 1%. The dynamic model predicts both hydraulic and dynamic features of the machine implement, achieving an accuracy on the payload mass within 2%–3%, even during dynamic conditions. The estimated pushing force reflects the expected behavior when tested for various pushing efforts and in different ground conditions. Eventually, the algorithm was tested on a complete loading cycle and the results show good consistency considering the measured front-loader trajectory and vehicle speed. The proposed model overcomes some drawbacks of the currently used technologies. For example, it allows for an online estimation of the bucket forces for any position of the implement. Although the results discussed in this article pertain to a specific reference machine, the proposed method can be extended to most wheel loaders equipped with standard digging equipment.

土方设备的最重要目标之一是在装载周期内最大程度地提高生产率。可以在挖掘时实时了解机器工具与周围环境之间交换的力，从而提高生产率。它可以用来确定机器移动的物料量。或找到最佳的铲斗轨迹；此外，作为牵引力控制系统的输入。本文介绍了一种在线力估算算法，该算法能够预测在前装载器与周围环境之间交换的垂直和水平力以及通过机具本身产生的反作用力。以14吨轮式装载机为例，本文说明了用于分析机器挖掘系统的仿真模型的开发，以及对提出的估算算法的检测和测试。该模型分为两个部分，分别描述系统运动学和系统动力学。将前置装载机的运动学模型与测量结果进行比较，结果显示平均误差低于1％。动态模型可以预测机器机具的液压和动态特性，即使在动态条件下，其有效负载质量的精度也可以达到2％–3％。估算的推力反映了在各种推力和不同地面条件下进行测试时的预期行为。最终，在一个完整的装载周期上对该算法进行了测试，考虑到前装载器的轨迹和车速，结果显示出良好的一致性。所提出的模型克服了当前使用的技术的一些缺点。例如，它允许在线估计工具机具任何位置的铲斗力。尽管本文讨论的结果适用于特定的参考机器，但建议的方法可以扩展到大多数装有标准挖掘设备的轮式装载机。