Abstract
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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Alshaer B, Darabseh T, Alhanouti M (2013) Path planning, modeling and simulation of an autonomous articulated heavy construction machine performing a loading cycle. Appl Math Model 37:5315–5325
Egerstedt M, Hu X, Rehbinder H, Stotsky A (1997) Path planning and robust tracking for a car-like robot. In: Proceedings of the 5th symposium on intelligent robotic systems, pp 237–243
Eriksson L, Nielsen L (2013) Modeling and control of engines and drivelines. Wiley, New York
Fahroo F, Ross IM (2008) Advances in pseudospectral methods for optimal control. In: AIAA guidance, navigation and control conference and exhibit, pp 18–21
Filla R (2011) Quantifying operability of working machines. Dissertation, Linköping University, No. 1390
Filla R (2013) Optimizing the trajectory of a wheel loader working in short loading cycles. In: The 13th Scandinavian international conference on fluid power, SICFP2013, 3–5 June 2013
Frank B, Skogh L, Filla R, Fröberg A, Alaküla M (2012) On increasing fuel efficiency by operator assistant systems in a wheel loader. In: Proceedings of the international conference on advanced vehicle technologies and integration, pp 155–161
Ghabcheloo R, Hyvönen M (2009) Modeling and motion control of an articulated-frame-steering hydraulic mobile machine. In: 17th Mediterranean conference on control and automation, 24–26 June 2009
Janarthanan B, Padmanabhan C, Sujatha C (2012) Longitudinal dynamics of tracked vehicle: simulation and experiment. J Terrramech 49:63–72
Kotwicki AJ (2012) Dynamic models for torque converter equipped vehicles. In: Proceedings of the 14th ASME design engineering technical conference, pp 359–368
Koyachi N, Sarata S (2009) Unmanned loading operation by autonomous wheel loader. ICROS-SICE international joint conference, Aug 2009, pp 18–21
Murray R, Sastry S (1993) Nonholonomic motion planning: steering using sinusoids. IEEE Trans Autom Control 38(5):700–716
Nezhadali V, Eriksson L (2013) Modeling and optimal control of a wheel loader in the lift-transport section of the short loading cycle. In: AAC’13—7th IFAC symposium on advances in automotive Control
Nezhadali V, Eriksson L (2013) Optimal control of wheel loader operation in the short loading cycle using two braking alternatives. In: IEEE VPPC—the 9th IEEE vehicle power and propulsion conference
Nilsson T, Fröberg A, Åslund J (2013) Fuel and time minimization in a CVT wheel loader application. In: AAC’13—7th IFAC symposium on advances in automotive control
Product brochure: Volvo L220G wheel loader (2012). http://www.volvoce.com/constructionequipment/na/en-us/products/wheelloaders/wheelloaders/L220G/Pages/specifications.aspx
Reeds JA, Shepp LA (1990) Optimal paths for a car that goes both forwards and backwards. Pac J Math 145(2):367–393
Sarata S, Weeramhaeng Y, Tsubouchi T (2005) Approach path generation to scooping position for wheel loader. In: Proceedings of the 2005 IEEE international conference on robotics and automation, pp 1809–1814
Takahashi H, Konishi Y (2001) Path generation for autonomous locomotion of articulated steering wheel loader. Comput Aided Civil Infrastruct Eng 16(3):159–168
TOMLAB 7.9: http://www.tomdyn.com/
Tsubouchi T, Sarata S, Yuta S (1998) A practical trajectory following of an articulated steering type vehicle. In: Zelinsky A (ed) Field and service robotics. Springer, London, pp 397–404
Walström J, Eriksson L (2011) Modeling engines with a variable-geometry turbocharger and exhaust gas recirculation by optimization of model parameters for capturing non-linear system dynamics. J Automobile Eng 225:960–986
Zhang Y, Zou Z, Chen X, Zhang X, Tobler W (2003) Simulation and analysis of transmission shift dynamics. Int J Veh Des 32(3/4):273–289
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Nezhadali, V., Eriksson, L. (2014). Optimal Lifting and Path Profiles for a Wheel Loader Considering Engine and Turbo Limitations. In: Waschl, H., Kolmanovsky, I., Steinbuch, M., del Re, L. (eds) Optimization and Optimal Control in Automotive Systems. Lecture Notes in Control and Information Sciences, vol 455. Springer, Cham. https://doi.org/10.1007/978-3-319-05371-4_18
Download citation
DOI: https://doi.org/10.1007/978-3-319-05371-4_18
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-05370-7
Online ISBN: 978-3-319-05371-4
eBook Packages: EngineeringEngineering (R0)