Model-Based Design For Off-Highway Machine Systems
Model-Based Design For Off-Highway Machine Systems
Model-Based Design For Off-Highway Machine Systems
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In V-cycle loading, the loader penetrates into a pile, One of the most common applications for a wheel loader
picks up gravel, backs up from the pile, reverses is what is referred to as hopper charging wherein the
direction, approaches a truck, while raising the loader acquires material from a stockpile, backs up from
implement linkage, such that the linkage is in a position the stockpile, reverses direction, traverses the distance
to dump when it reaches the truck. Once the loader has towards a ramp, and then moves up the ramp while
dumped the gravel in the truck, the loader backs up from raising the implement linkage, such that the linkage is in
the truck, lowers the linkage, reverses direction again, a position to dump at the end of the ramp. Once the
and approaches the pile, at which point the cycle loader has dumped the material into a truck or a
repeats. In this case, the ability of the loader to acquire conveyor at the end of the ramp, the loader backs up,
material in the pile through a balanced combination of lowers the linkage, reverses direction again, and
tractive force and lift force, and the ability of the loader to approaches the stockpile, at which point the cycle
simultaneously steer, lift, and move in a coordinated repeats. This operation involves the complex interaction
fashion are some of the key drivers of performance of the loader powertrain, hydraulics, implement linkage,
characteristics. and steering system. The net performance of the
machine is a function of these systems and their
In backdragging, the wheel loader bucket blade is used interactions. In a traditional design process, the
to push loose material where the loader travels in development of these systems happens independently
reverse gear such that the ground becomes relatively and the only time the system interaction issues are
level due to the pressure applied by the bucket blade. In addressed is when the machine gets built and tested. In
this application, the ability to apply downward pressure order to understand and analyze the performance of the
machine it is essential that we take the different wheel these elemental performance metrics become
loader applications such as the hopper charging cycle traceable back to the machine application
and break it down into individual elements so that we requirements. This allows us to start with
can quantify the performance of the various machine requirements based on machine level applications,
systems. break it down into targets for individual and
combined system operation, and then drive the
The hopper charging cycle can be broken down into the machine design and development process to meet
following segments: these targets.
a. approach pile (steer, move, and position linkage For the purposes of this paper we will narrow our focus
to penetrate pile) to the interactions that happen between the implement
hydraulic and powertrain systems during the course of
b. dig and acquire material (keep machine pushed going up the grade only and not deal with the digging
against pile, and lift and tilt movements to aspects of the hopper charging cycle. The performance
acquire load) requirements that arise out of the lift and propulsion
system interactions during a hopper charging cycle are
c. reverse from pile (steer and propulsion) discussed next.
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