Optimal control of wheel loader actuators in gravel applications
(2018) In Automation in Construction 91. p.1-14- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/d063f6b7-a8b1-426b-8fe4-f786ef214644
- author
- Frank, Bobbie LU ; Kleinert, Jan and Filla, Reno
- organization
- publishing date
- 2018-07-01
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Construction machines, Dynamic programming, Fuel efficiency, Gravel simulation, Optimal control, Wheel loader
- in
- Automation in Construction
- volume
- 91
- pages
- 14 pages
- publisher
- Elsevier
- external identifiers
-
- scopus:85042917933
- ISSN
- 0926-5805
- DOI
- 10.1016/j.autcon.2018.03.005
- language
- English
- LU publication?
- yes
- id
- d063f6b7-a8b1-426b-8fe4-f786ef214644
- date added to LUP
- 2018-03-15 10:38:01
- date last changed
- 2022-04-25 06:16:11
@article{d063f6b7-a8b1-426b-8fe4-f786ef214644, abstract = {{<p>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.</p>}}, author = {{Frank, Bobbie and Kleinert, Jan and Filla, Reno}}, issn = {{0926-5805}}, keywords = {{Construction machines; Dynamic programming; Fuel efficiency; Gravel simulation; Optimal control; Wheel loader}}, language = {{eng}}, month = {{07}}, pages = {{1--14}}, publisher = {{Elsevier}}, series = {{Automation in Construction}}, title = {{Optimal control of wheel loader actuators in gravel applications}}, url = {{http://dx.doi.org/10.1016/j.autcon.2018.03.005}}, doi = {{10.1016/j.autcon.2018.03.005}}, volume = {{91}}, year = {{2018}}, }