Wheel loader operation—Optimal control compared to real drive experience

Nezhadali, Vaheed; Frank, Bobbie; Eriksson, Lars

doi:10.1016/j.conengprac.2015.12.015

Cited by 37 publications

(35 citation statements)

References 12 publications

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“…The most common working manner for a wheel loader is the V-type route that consists of five segments [15,16]. That is, the operator implements the task repeatedly according to the V-type route.…”

Section: Operating Modementioning

confidence: 99%

Achievement of Fuel Savings in Wheel Loader by Applying Hydrodynamic Mechanical Power Split Transmissions

et al. 2017

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Abstract:The fuel economy of wheel loaders is deeply affected by the efficiency of their propelling transmissions, however, the torque converter (TC) in existing propelling transmissions is a low-efficiency component and leads to excessive energy consumption. Accordingly, this paper replaces the TC with a hydrodynamic mechanical power split transmission (HMPST) for improving the fuel economy of wheel loader. Based on probability similarity theory, the typical operating mode for the vehicles is constructed, which is used to evaluate the energy consumption performance of the selected solutions. The four reasonable solutions, which can be initially applied to wheel loaders, are selected from among the HMPSTs using the lever diagram. Furthermore, the comparisons on efficiency and loading characteristics between these four solutions and a prototype TC are conducted. The design optimization for all the four solutions is implemented, in order to find the optimal fuel saving solution relative to the prototype TC, and only one solution with pure power split can meet the constraints. Finally, a simulation model of the wheel loader powertrain is established for validating the effectiveness of this optimal solution. The results show that the optimized solution can effectively improve the fuel economy of wheel loaders compared to the prototype TC and provides a novel substitute for current technology.

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Section: Operating Modementioning

confidence: 99%

Achievement of Fuel Savings in Wheel Loader by Applying Hydrodynamic Mechanical Power Split Transmissions

et al. 2017

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“…In WLs, the engine provides power for hydraulics, traction, and steering. Hence [8] P e,load = P li f t (ω, u p ) + P steering (u s ) + P traction (ω e ,V )…”

Section: A Engine Modelmentioning

confidence: 99%

“…A complete engine model has many variables/parameters, and it is not suitable for control purpose. In order to model a diesel engine, the data from a real engine [7] is used to tune the parameters of a mean value engine model, introduced in [8], which captures only the essential characteristics of the engine, but maintains a good level of accuracy. After the engine is modeled, the driveline of a WL is modeled as a switching system with forwarding, backwarding, and stopping modes.…”

mentioning

confidence: 99%

“…However, the presented optimal control problem formulation and solutions in this paper are entirely different from the ones discussed in [8]. In [8], a mixed integer programming solution provided by a numerical solver is used for a specific initial condition. However, the solution developed in this paper is a closed loop feedback optimal policy which means that the solution is valid for all initial conditions in a compact set selected as a domain of interest.…”

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confidence: 99%

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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 environments that wheel loaders operate in, high wheel slip conditions are common. During these periods, it is important The structure of complete wheel loader model and its comprising subsystems, states and controls according to [53].…”

Section: Wheel Loader Models Inmentioning

confidence: 99%

Modeling and Optimal Control of Heavy-Duty Powertrains

Nezhadali

2016

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The cover: The background photo on the cover shows the Roxen lake with Linköping on it's horizon. At the begining of my very first presentation in Linz 2013, I introduced the city of my studies with this picture. I wanted to finish with the same picture which will remind me of my 7 years in Linköping whenever I look at this dissertation. The graphic figure on top of the background, shows the feasible regions of operation for two subsystems, and two sets of state trajectories. More about this is described at the end of chapter 2. Typeset with L A T E X 2εPrinted by LiU-Tryck, Linköping, Sweden 2016 To Samira and my parents i AbstractHeavy duty powertrains are complex systems with components from various domains, different response times during transient operations and different efficient operating ranges. To ensure efficient transient operation of a powertrain, e.g. with low fuel consumption or short transient duration, it is important to come up with proper control strategies. In this dissertation, optimal control theory is used to calculate and analyze efficient heavy duty powertrain controls during transient operations in different applications. This is enabled by first developing control ready models, usable for multi-phase optimal control problem formulations, and then using numerical optimal control methods to calculate the optimal transients.Optimal control analysis of a wheel loader operating in a repetitive loading cycle is the first studied application. Increasing fuel efficiency or reducing the operation time in such repetitive loading cycles sums up to large savings over longer periods of time. Load lifting and vehicle traction consume almost all of the power produced by a diesel engine during wheel loader operation. Physical models are developed for these subsystems where the dynamics are described by differential equations. The model parameters are tuned and fuel consumption estimation is validated against measured values from real wheel loader operation. The sensitivity of wheel loader trajectory with respect to constrains such as the angle at which the wheel loader reaches the unloading position is also analyzed. A time and fuel optimal trajectory map is calculated for various unloading positions. Moreover, the importance of simultaneous optimization of wheel loader trajectory and the component transients is shown via a side to side comparison between measured fuel consumption and trajectories versus optimal control results.In another application, optimal control is used to calculate efficient gear shift controls for a heavy duty Automatic Transmission system. A modeling and optimal control framework is developed for a nine speed automatic transmission. Solving optimal control problems using the developed model, time and jerk efficient transient for simultaneous disengagement of off-going and engagement of in-coming shift actuators are obtained and the results are analyzed.Optimal controls of a diesel-electric powertrain during a gear shift in an Automated Manual Transmission system are calcula...

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Wheel loader operation—Optimal control compared to real drive experience

Cited by 37 publications

References 12 publications

Achievement of Fuel Savings in Wheel Loader by Applying Hydrodynamic Mechanical Power Split Transmissions

Achievement of Fuel Savings in Wheel Loader by Applying Hydrodynamic Mechanical Power Split Transmissions

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

Modeling and Optimal Control of Heavy-Duty Powertrains

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