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Optimal control of wheel loader actuators in gravel applications

Frank, Bobbie LU ; Kleinert, Jan and Filla, Reno (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.

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author
organization
publishing date
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
2018-09-16 04:53:58
@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},
  keyword      = {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},
  volume       = {91},
  year         = {2018},
}