Earthmoving vehicle powertrain controller design and evaluation

Don E. Carter, Andrew G Alleyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Previous work examined the control of a nonlinear Multi-Input Multi-Output electrohydraulic system representative of an earthmoving vehicle powertrain. The system layout incorporates a prime mover, a variable displacement pump, several flow valves and motors representing different loads on the powertrain. A gain-scheduled H controller was successfully developed and tested on a Hardware-in-the-Loop (HIL) system. However, previous results were for relatively simple reference tracking tasks. In this paper, the previously developed systems and load emulation environments are implemented and used to provide a test environment for the human-centered evaluation of powertrain controller designs. Measures for performance and efficiency are first discussed and defined for the earthmoving powertrain. The H control problem is then presented along with a brief summary of the Earthmoving Vehicle Powertrain Simulator (EVPS) plant model developed previously. Various design plant models (DPMs), based on maximizing performance and/or efficiency, are described and controllers are synthesized using commonly available H control design software. Experimental comparisons of working cycle times, tracking performance, system efficiencies, and component efficiencies are made between the different controller designs. The task used for comparison is a 180-degree closed-loop working cycle for a medium sized wheel loader.

Original languageEnglish (US)
Title of host publicationProceedings of the 2004 American Control Conference (AAC)
Number of pages6
StatePublished - 2004
EventProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
Duration: Jun 30 2004Jul 2 2004


OtherProceedings of the 2004 American Control Conference (AAC)
CountryUnited States
CityBoston, MA

ASJC Scopus subject areas

  • Control and Systems Engineering

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