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Flow-Bounded Velocity Controller for Hydraulic Bulldozers

Author

Listed:
  • Teemu Mononen

    (Faculty of Engineering and Natural Sciences, Tampere University, 33720 Tampere, Finland)

  • Jouni Mattila

    (Faculty of Engineering and Natural Sciences, Tampere University, 33720 Tampere, Finland)

Abstract

The bulldozer is a mobile earthmoving machine with a differentially steered mobile base and an onboard manipulator used for soil cutting and transportation. Grading the ground to match a desired contour is an end-effector path-following task, with required joint rates dependent on mobile base motion. The offline planning of travel velocity profiles that respect the available hydraulic flowrate limits is difficult due to uncertainties in the machine–soil interactions. Hence, we propose a flow-bounded velocity controller enabling accurate automatic grading with online velocity scaling. The capacity of hydrostatic transmission and manipulator actuators, as well as the desired velocity, are considered when deciding the commanded velocity reference for the mobile base. Our dynamic simulation results show that, with the proposed controller, a desired ground profile is cut accurately when the machine operates at its performance limits. Comparison to constant velocity driving shows that errors in blade positioning are reduced dramatically. Constant velocity selected to keep the flow within limits results in longer completion times compared to our solution, making it more time optimal. Furthermore, the rpm of the diesel engine can be reduced to save fuel without compromising control performance.

Suggested Citation

  • Teemu Mononen & Jouni Mattila, 2022. "Flow-Bounded Velocity Controller for Hydraulic Bulldozers," Energies, MDPI, vol. 15(11), pages 1-13, May.
    • Handle: RePEc:gam:jeners:v:15:y:2022:i:11:p:4027-:d:828141
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    References listed on IDEAS

    as
    1. Yuliang Li & Chong Tang, 2015. "Research on Coupled Dynamic Model of Tracked Vehicles and Its Solving Method," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-10, March.
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    Cited by:

    1. Chengliang Zhang & Changpu Li & Chunzhao Zhao & Lei Li & Guanlei Gao & Xiyuan Chen, 2022. "Design of Hydrostatic Chassis Drive System for Large Plant Protection Machine," Agriculture, MDPI, vol. 12(8), pages 1-16, July.

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