Abstract
The bucket motion of a wheel loader during the loading process is investigated in this study. The optimal bucket loading trajectory can be obtained by solving an optimal control problem with the performance criteria of the fill factor, fuel efficiency and operation cycle time. A control-oriented model for the bucket loading operation is developed. Based on the control-oriented model, the bucket loading process is formulated as an optimal control problem with physical constraints. An open-source optimization solver, OpenOCL, is used to solve this problem. The simulation results show that the proposed method is effective in generating the optimal trajectory with significantly increased energy efficiency and productivity. This optimal trajectory can be employed as a reference for an automated wheel loader or as a driver advisory for a human operated wheel loader.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 6948-6958 |
| Number of pages | 11 |
| Journal | IEEE Transactions on Vehicular Technology |
| Volume | 72 |
| Issue number | 6 |
| DOIs | |
| State | Published - Jun 1 2023 |
Bibliographical note
Funding Information:This work was supported in part by the U.S. Department of Energy’s Office of Energy Efficiency and Renewable Energy (EERE) through the Vehicle Technologies Office Award under Grant DE-EE0009200, and in part by CNH.
Publisher Copyright:
IEEE
UN SDGs
This output contributes to the following UN Sustainable Development Goals (SDGs)
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SDG 7 Affordable and Clean Energy
Keywords
- Wheel loader
- automatic loading
- optimal control
- trajectory optimization
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