Optimal Lifting and Path Profiles for a Wheel Loader Considering Engine and Turbo Limitations
Time and fuel optimal control of an articulated wheel loader is
studied during the lift and transport sections of the short loading
cycle. A wheel loader model is developed including engine (with turbo
dynamics), torque converter, transmission and vehicle kinematics,
lifting hydraulics and articulated steering. The modeling is performed
with the aim to use the models for formulating and solving optimal
control problems. The considered problem is the lift and transport
section of the wheel loader that operates in the short loading cycle,
with several different load receiver positions, while the considered
criteria are minimum time and minimum fuel. The problem is separated
into four phases to avoid solving a mixed integer problem imposed by
the gearshifting discontinuities. Furthermore, two different load
lifting patterns are studied one with the lifting free and one with
the lifting performed only in the last 30 % of the transport. The
results show that the optimal paths to the load receiver are identical
for both minimum time and minimum fuel cycles and do not change when
the loading lifting pattern is altered. A power break-down during the
wheel loader operation is presented for the selected cycles of normal
and delayed lifting where it is shown that the cycle time remains
almost unchanged when lifting is delayed while the fuel consumption
slightly decreases in minimum time transients.
Vaheed Nezhadali and Lars Eriksson
Springer International Publishing,
Lecture Notes in Control and Information Sciences. Editors: Harald Waschl and Ilya Kolmanovsky and Maarten Steinbuch and Luigi
del Re,
2014
Page responsible: webmaster
Last updated: 2021-11-10
LiU startsida
