Development of Look-Ahead Controller Concepts for a Wheel Loader Application
This paper presents two conceptual methods, based on dynamic programming, for one-step look-ahead control of a Continuously Variable Transmission (CVT) in a wheel loader. The first method developed, designated Stochastic Dynamic Programming (SDP), uses a statistical load prediction and stochastic dy...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2015-01-01
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| Series: | Oil & Gas Science and Technology |
| Online Access: | http://dx.doi.org/10.2516/ogst/2014022 |
| Summary: | This paper presents two conceptual methods, based on dynamic programming, for one-step look-ahead control of a Continuously Variable Transmission (CVT) in a wheel loader. The first method developed, designated Stochastic Dynamic Programming (SDP), uses a statistical load prediction and stochastic dynamic programming for minimizing fuel use. The second method developed, designated Free-Time Dynamic Programming (FTDP), has vehicle speed as a state and introduces a fixed 0.1 s delay in the bucket controls in a combined minimization of fuel and time. The methods are evaluated using a set of 34 measured loading cycles, used in a ‘leave one out’ manner.
The evaluation shows that the SDP method requires about 1/10th of the computational effort of FTDP and has a more transparent impact of differences in the cycle prediction. The FTDP method, on the other hand, shows a 10% lower fuel consumption, which is close to the actual optimum, at the same cycle times, and is able to complete a much larger part of the evaluation cycles. |
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| ISSN: | 1294-4475 1953-8189 |