Optimal control of wheel loader actuators in gravel applications

Frank, Bobbie; Kleinert, Jan; Filla, Reno

doi:10.1016/j.autcon.2018.03.005

Cited by 48 publications

(32 citation statements)

References 26 publications

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“…Considering the dynamics as (18) and assuming the mode sequence is known, it is desired to find optimal switching times and a feedback control policy that minimizes the cost function…”

Section: Optimal Control Formuationmentioning

confidence: 99%

“…Compared to [16], [17], this paper provides the optimal policy in the whole time horizon rather than non-optimal control methods. In [18] optimal control of a wheel loader for gravel application was performed with dynamic programming. In [19], an energy management strategy for hybrid wheel loaders was studied with dynamic programming along with an advisory control policy.…”

mentioning

confidence: 99%

See 1 more Smart Citation

Sub-Optimal Control of Autonomous Wheel Loader With Approximate Dynamic Programming

Sardarmehni

Song

2019

Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive

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Optimal control of wheel loaders in short loading cycles is studied in this paper. For modeling the wheel loader, the data from a validated diesel engine model is used to find a control oriented mean value engine model. The driveline is modeled as a switched system with three constant gear ratios (modes) of −60 for backwarding, 60 for forwarding, and zero for stopping. With these three modes, the sequence of active modes in a short loading cycle is fixed as backwarding, stopping, forwarding, and stopping. For the control part, it is assumed that the optimal path is known a priori. Given the mode sequence, the control objective is finding the optimal switching time instants between the modes while the wheel loader tracks the optimal path. To solve the optimal control problem, approximate dynamic programming is used. Simulation results are provided to show the effectiveness of the solution.

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“…Considering the dynamics as (18) and assuming the mode sequence is known, it is desired to find optimal switching times and a feedback control policy that minimizes the cost function…”

Section: Optimal Control Formuationmentioning

confidence: 99%

mentioning

confidence: 99%

Sub-Optimal Control of Autonomous Wheel Loader With Approximate Dynamic Programming

Sardarmehni

Song

2019

Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive

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“…The grapple loader is intended for loading and unloading transport vehicles (sand, gravel, mineral fertilisers, lime, manure, straw) to be used in agriculture and transportation [9,10]. The model will assess the behaviour of the real object in the operating conditions with variable loads and overloaded system, which will determine properties of the real object and select and verify the settings that ensure optimal behaviour of the object [11][12][13][14][15][16][17][18][19][20][21][22].…”

Section: Introductionmentioning

confidence: 99%

The simulation model of the grapple loader operation

et al. 2019

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The main objective of the study was to develop a simulation model for the operation of the T-214 CYKLOP grapple loader using the MATLAB package. The created model allowed assessment of the behaviour of the real object in the operating conditions under variable loads and in the system overload. The simulation of the boom operation was carried out in four combinations: (1) at power take-off speed = 1000 rpm without load and (2) at 1000 kg load, (4) at power take-off speed = 540 rpm without load and (4) at 1000 kg load. The results show that the system works properly. The correct functioning of the system is evidenced by the fact that changes in force and acceleration occur on both pistons when only one of the cylinders is operating (the cylinder at rest acts as a shock absorber for the forces resulting from the inertia of the arms and the load). Apart from the increased forces on the pistons of the hydraulic cylinders, the additional load resulted in a slight reduction in acceleration values and an increase in the time needed to change the arm tilt angles.

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“…As discussed at length in [7] this approach has the obvious flaw that the tight coupling of forces leading to a complex interaction of the machine's subsystems (engine, drivetrain, hydraulics etc. ), the work environment and the operator is largely disregarded.…”

Section: Introductionmentioning

confidence: 99%

“…), the work environment and the operator is largely disregarded. Even though the loader's linkage has been represented through the way the trajectories have been generated [2] and/or how the simulation results have been analyzed [7], this limited approach falls short of the full simulation scope actually required. The overall cycle efficiency value and thus the performance of a particular bucket filling strategy are first apparent after the wheel loader has arrived at the load receiver to empty the bucket.…”

Section: Introductionmentioning

confidence: 99%

Towards Finding the Optimal Bucket Filling Strategy through Simulation

Filla¹,

Frank²

2017

Linköping Electronic Conference Proceedings

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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.

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Optimal control of wheel loader actuators in gravel applications

Cited by 48 publications

References 26 publications

Sub-Optimal Control of Autonomous Wheel Loader With Approximate Dynamic Programming

Sub-Optimal Control of Autonomous Wheel Loader With Approximate Dynamic Programming

The simulation model of the grapple loader operation

Towards Finding the Optimal Bucket Filling Strategy through Simulation

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