Multivariable control of an earthmoving vehicle powertrain experimentally validated in an emulated working cycle

Rong Zhang, Don E. Carter, Andrew G Alleyne

Research output: Contribution to conferencePaper

Abstract

The operation of an earthmoving vehicle involves the coordination of a multivariable powertrain and the execution of specific tasks in a repetitive fashion. The performance and efficiency depend heavily on human expertise. The purpose of this research is to automate the coordination of a multi-input multi-output (MIMO) nonlinear electro-hydraulic powertrain and to validate the performance and efficiency improvements in a human-machine interaction. Firstly, a robust gain scheduling method is developed to design a powertrain controller and to analyze its robust stability and robust performance. The gain scheduling is based on a Local Controller Network strategy and its satisfactory properties are analytically confirmed using robust control theories. Secondly, the improvement of performance and efficiency are validated through two experiments performed on an Earthmoving Vehicle Powertrain Simulator (EVPS). This testbed is a Hardware-In-the-Loop HIL environment representative of a class of electro-hydraulic systems with multiple loads. The two human-operated experiments include a reference tracking test and a working cycle test. In the second test, three types of loads are modeled for a typical wheel loader and emulated on EVPS for a 180-degree loading cycle. These models include the steering, the drive, and the implement. The load emulation technique ensures that the HIL working cycles are representative of real life cycles. The reference tracking and loading cycle results show the significant improvement in productivity in terms of performance, efficiency, and ease of operation.

Original languageEnglish (US)
Pages515-524
Number of pages10
DOIs
StatePublished - Jan 1 2003
Event2003 ASME International Mechanical Engineering Congress - Washington, DC., United States
Duration: Nov 15 2003Nov 21 2003

Other

Other2003 ASME International Mechanical Engineering Congress
CountryUnited States
CityWashington, DC.
Period11/15/0311/21/03

Fingerprint

Powertrains
Simulators
Scheduling
Hydraulics
Controllers
Loaders
Robust control
Testbeds
Control theory
Computer hardware
Life cycle
Wheels
Productivity
Experiments

ASJC Scopus subject areas

  • Mechanical Engineering
  • Software

Cite this

Zhang, R., Carter, D. E., & Alleyne, A. G. (2003). Multivariable control of an earthmoving vehicle powertrain experimentally validated in an emulated working cycle. 515-524. Paper presented at 2003 ASME International Mechanical Engineering Congress, Washington, DC., United States. https://doi.org/10.1115/IMECE2003-41282

Multivariable control of an earthmoving vehicle powertrain experimentally validated in an emulated working cycle. / Zhang, Rong; Carter, Don E.; Alleyne, Andrew G.

2003. 515-524 Paper presented at 2003 ASME International Mechanical Engineering Congress, Washington, DC., United States.

Research output: Contribution to conferencePaper

Zhang, R, Carter, DE & Alleyne, AG 2003, 'Multivariable control of an earthmoving vehicle powertrain experimentally validated in an emulated working cycle' Paper presented at 2003 ASME International Mechanical Engineering Congress, Washington, DC., United States, 11/15/03 - 11/21/03, pp. 515-524. https://doi.org/10.1115/IMECE2003-41282
Zhang R, Carter DE, Alleyne AG. Multivariable control of an earthmoving vehicle powertrain experimentally validated in an emulated working cycle. 2003. Paper presented at 2003 ASME International Mechanical Engineering Congress, Washington, DC., United States. https://doi.org/10.1115/IMECE2003-41282
Zhang, Rong ; Carter, Don E. ; Alleyne, Andrew G. / Multivariable control of an earthmoving vehicle powertrain experimentally validated in an emulated working cycle. Paper presented at 2003 ASME International Mechanical Engineering Congress, Washington, DC., United States.10 p.
@conference{1abd2b1a8228453bb8eb6e07e32213f6,
title = "Multivariable control of an earthmoving vehicle powertrain experimentally validated in an emulated working cycle",
abstract = "The operation of an earthmoving vehicle involves the coordination of a multivariable powertrain and the execution of specific tasks in a repetitive fashion. The performance and efficiency depend heavily on human expertise. The purpose of this research is to automate the coordination of a multi-input multi-output (MIMO) nonlinear electro-hydraulic powertrain and to validate the performance and efficiency improvements in a human-machine interaction. Firstly, a robust gain scheduling method is developed to design a powertrain controller and to analyze its robust stability and robust performance. The gain scheduling is based on a Local Controller Network strategy and its satisfactory properties are analytically confirmed using robust control theories. Secondly, the improvement of performance and efficiency are validated through two experiments performed on an Earthmoving Vehicle Powertrain Simulator (EVPS). This testbed is a Hardware-In-the-Loop HIL environment representative of a class of electro-hydraulic systems with multiple loads. The two human-operated experiments include a reference tracking test and a working cycle test. In the second test, three types of loads are modeled for a typical wheel loader and emulated on EVPS for a 180-degree loading cycle. These models include the steering, the drive, and the implement. The load emulation technique ensures that the HIL working cycles are representative of real life cycles. The reference tracking and loading cycle results show the significant improvement in productivity in terms of performance, efficiency, and ease of operation.",
author = "Rong Zhang and Carter, {Don E.} and Alleyne, {Andrew G}",
year = "2003",
month = "1",
day = "1",
doi = "10.1115/IMECE2003-41282",
language = "English (US)",
pages = "515--524",
note = "2003 ASME International Mechanical Engineering Congress ; Conference date: 15-11-2003 Through 21-11-2003",

}

TY - CONF

T1 - Multivariable control of an earthmoving vehicle powertrain experimentally validated in an emulated working cycle

AU - Zhang, Rong

AU - Carter, Don E.

AU - Alleyne, Andrew G

PY - 2003/1/1

Y1 - 2003/1/1

N2 - The operation of an earthmoving vehicle involves the coordination of a multivariable powertrain and the execution of specific tasks in a repetitive fashion. The performance and efficiency depend heavily on human expertise. The purpose of this research is to automate the coordination of a multi-input multi-output (MIMO) nonlinear electro-hydraulic powertrain and to validate the performance and efficiency improvements in a human-machine interaction. Firstly, a robust gain scheduling method is developed to design a powertrain controller and to analyze its robust stability and robust performance. The gain scheduling is based on a Local Controller Network strategy and its satisfactory properties are analytically confirmed using robust control theories. Secondly, the improvement of performance and efficiency are validated through two experiments performed on an Earthmoving Vehicle Powertrain Simulator (EVPS). This testbed is a Hardware-In-the-Loop HIL environment representative of a class of electro-hydraulic systems with multiple loads. The two human-operated experiments include a reference tracking test and a working cycle test. In the second test, three types of loads are modeled for a typical wheel loader and emulated on EVPS for a 180-degree loading cycle. These models include the steering, the drive, and the implement. The load emulation technique ensures that the HIL working cycles are representative of real life cycles. The reference tracking and loading cycle results show the significant improvement in productivity in terms of performance, efficiency, and ease of operation.

AB - The operation of an earthmoving vehicle involves the coordination of a multivariable powertrain and the execution of specific tasks in a repetitive fashion. The performance and efficiency depend heavily on human expertise. The purpose of this research is to automate the coordination of a multi-input multi-output (MIMO) nonlinear electro-hydraulic powertrain and to validate the performance and efficiency improvements in a human-machine interaction. Firstly, a robust gain scheduling method is developed to design a powertrain controller and to analyze its robust stability and robust performance. The gain scheduling is based on a Local Controller Network strategy and its satisfactory properties are analytically confirmed using robust control theories. Secondly, the improvement of performance and efficiency are validated through two experiments performed on an Earthmoving Vehicle Powertrain Simulator (EVPS). This testbed is a Hardware-In-the-Loop HIL environment representative of a class of electro-hydraulic systems with multiple loads. The two human-operated experiments include a reference tracking test and a working cycle test. In the second test, three types of loads are modeled for a typical wheel loader and emulated on EVPS for a 180-degree loading cycle. These models include the steering, the drive, and the implement. The load emulation technique ensures that the HIL working cycles are representative of real life cycles. The reference tracking and loading cycle results show the significant improvement in productivity in terms of performance, efficiency, and ease of operation.

UR - http://www.scopus.com/inward/record.url?scp=1842563112&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=1842563112&partnerID=8YFLogxK

U2 - 10.1115/IMECE2003-41282

DO - 10.1115/IMECE2003-41282

M3 - Paper

AN - SCOPUS:1842563112

SP - 515

EP - 524

ER -