Optimal control of wheel loader actuators in gravel applications |
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| Affiliation: | 1. Lund University, Faculty of Engineering, Box 118, S-221 00 Lund, Sweden;2. Volvo Construction Equipment, SE-631 85 Eskilstuna, Sweden;3. Fraunhofer-Institut für Techno- und Wirtschaftsmathematik ITWM, Fraunhofer-Platz 1, 67663 Kaiserslautern, Germany;1. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China;2. Key Laboratory of Advanced Manufacturing Technology for Automobile Parts. Ministry of Education, Chongqing University of Technology, Chongqing, 400054, China;1. Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361005, China;2. NSF Industry/University Cooperative Research Center on Intelligent Maintenance Systems (IMS), University of Cincinnati, Cincinnati 45221, OH, United States |
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| Abstract: | The paper is about finding the global optimum for a wheel loader work cycle in a gravel application. This includes simulating the gravel and extracting the trajectories for the main actuators; propulsion, lift and tilt, during the work cycle. The optimal control method is dynamic programming and the optimum is calculated with regard to fuel efficiency ton/l] but can be weighted towards productivity ton/h].The analytical optimal control results are compared to an extensive empirical measurement done on a wheel loader and shows around 15% higher fuel efficiency compared to the highest fuel efficiency measured among real operators. |
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