The purpose of earth-moving equipment like wheel loaders is to engage with the ground or other material. It is therefore obvious that the bucket filling phase must be included when studying optimal machine control over a complete working cycle because total productivity and efficiency of the machine are to a large extent determined by it. This paper reports and discusses the results of research into how to utilize Discrete Element Method simulations in combination with Optimal Control to find the optimal bucket filling strategy and what has been learned regarding preparing and conducting both simulations of bucket filling and physical testing for verification. This paper also discloses which bucket filling strategy appears to be optimal, based on the results so far-and why we cannot be completely certain.
This paper will examine the wheel loader as a system with two parallel energy conversion systems that show a complex interaction with each other and with the power source. Using a systematic design approach, several principle design solutions for hybridization can be found. Furthermore, the human operator with his/her control actions needs to be considered as part of the total system. This paper will therefore also connect to results from ongoing and previous research into operator workload and operability.
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