Traction Control for Off-Road Construction Vehicles II
Purpose and goal
Construction machines operate in many different environments and driving conditions. They need to be able to perform well with road conditions and loads that can change drastically, setting hard requirements on performances and robustness. The main objectives of the project has been to study efficiency and slip under transient conditions and work with slip estimators as well as decide efficiency measures to use in design of traction controllers that are suitable for the different modes of the typical working cycle of a hauler and a wheel loader.
Results and expected effects
The project has resulted in a verified low complexity dynamic model for a small articulated vehicle that is meaningful to use in online optimal controllers. Feld measurements on full-scale machines with high accuracy has increased quality of current tire models. An estimator for slip and effective tire radius has been developed and experimentally verified. A preliminary framework for designing optimal controllers based on different models and cost functions has been established. The PhD dissemination is planned in april 2016.
Approach and implementation
The project has been performed in close collaboration between Luleå Technical University and Volvo CE. Volvo CE has provided the PhD student with requriemnts and opertation cycles that the PhD student has used as inoput to create models. These models has been evaluated together with Volvo CE. The project has been controlled by a steering group, meeting four times a year to ensure progress in the project.