Wheel loader operation—Optimal control compared to real drive experience. (March 2016)

• Record Type: Journal Article
• Authors: Nezhadali, V.; Frank, B.; Eriksson, L.
• Is Part Of: Control engineering practice. Volume 48(2016)
• Page Start: 1
• Page End: 9
• Publication Date: 2016-03
• Subjects: Optimal control -- Modeling for control -- Powertrain modeling and simulation -- Trajectory optimization; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2015.12.015
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: Wheel loader trajectories between loading and unloading positions in a repetitive loading cycle are studied. A wheel loader model available in the literature is improved for better fuel estimation and optimal control problems are formulated and solved using it. The optimization results are analyzed in a side to side comparison with measurement data from a real world application. It is shown that the trajectory properties affect the operation productivity. However, efficient trajectories are not the only requirement for high productivity operation and all major power consuming sources such as vehicle dynamics, lifting and steering have to be included in the optimization for productivity analysis. The effect of operator steering capability is also analyzed showing that development of autonomous vehicles can be envisaged especially for repetitive cycles.