Traction Control Development for Heavy-Duty Off-Road Vehicles Using Sliding Mode Control
DOI:
https://doi.org/10.13052/ijfp1439-9776.2035Keywords:
traction control, construction vehicles, sliding mode controlAbstract
Construction equipment represents a unique field for operator assistance systems. These machines operate in applications where safety and productivity are paramount. One mechanism of interest recently is traction control. In order to push the limits of the traction control capability, a nonlinear controller is created. To do this, a nonlinear model of a representative construction machine is developed. Based on this model, a sliding mode-type controller is generated. The controller is then run in simulation and implemented on a prototype machine. The sliding mode design shows an improvement in both wheel slip and machine pushing force over previous work.
Downloads
References
S. M. Savaresi and M. Tanelli, Active Braking Control Systems Design
for Vehicles. London: Springer London, 2010.
Y. B. Kim, J. Ha, H. Kang, P. Y. Kim, J. Park, and F. C. Park, “Dynamically
Optimal Trajectories for Earthmoving Excavators,” Automation in
Construction, vol. 35, pp. 568–578, Nov. 2013.
T. D. Gillespie, Fundamentals of Vehicle Dynamics. Warrendale, PA:
Society of Automotive Engineers, 1992.
R. Rajamani, Vehicle Dynamics and Control, 2nd ed. New York, NY:
Springer, 2012.
R. N. Jazar, Vehicle Dynamics: Theory and Application, 2nd ed.
New York: Springer, 2014.
J. Y. Wong, Theory of Ground Vehicles, 4th ed. Hoboken, N.J: Wiley,
A. F. Andreev, V. I. Kabanau, and V. V. Vantsevich, Driveline Systems
of Ground Vehicles: Theory and Design. Boca Raton: CRC Press, 2010.
A. Alexander and A. Vacca, “Longitudinal Vehicle Dynamics Model for
Construction Machines with Experimental Validation,” IJAME, vol. 14,
no. 4, pp. 4616–4633, Dec. 2017.
A. Alexander and A. Vacca, “Real-Time Parameter Setpoint Optimization
for Electro-Hydraulic Traction Control Systems,” in Proceedings
of 15th Scandinavian International Conference on Fluid Power,
Linköping, Sweden, 2017, pp. 104–114.
S. Kuntanapreeda, “Traction Control of Electric Vehicles Using Sliding-
Mode Controller with Tractive Force Observer,” International Journal
of Vehicular Technology, vol. 2014, pp. 1–9, 2014.
J. Li, Z. Song, Z. Shuai, L. Xu, and M. Ouyang, “Wheel Slip Control
Using Sliding-Mode Technique and Maximum Transmissible Torque
Estimation,” Journal of Dynamic Systems, Measurement, and Control,
vol. 137, no. 11, p. 111010, Aug. 2015.
J. van der Burg, A. Kheddar, and P. Blazevic, “Terrain-Adaptive Traction
Control System for Intelligent All-Terrain Vehicles,” IFAC Proceedings
Volumes, vol. 31, no. 3, pp. 57–62, Mar. 1998.
H. Lee and M. Tomizuka, “Adaptive Vehicle Traction Force Control for
Intelligent Vehicle Highway Systems (IVHSs),” IEEE Transactions on
Industrial Electronics, vol. 50, no. 1, pp. 37–47, Feb. 2003.
M. Schreiber and H. D. Kutzbach, “Influence of Soil and Tire Parameters
on Traction,” Research in Agricultural Engineering, vol. 54, no. 2,
pp. 43–49, 2008.
P. V. Osinenko, M. Geissler, and T. Herlitzius, “A Method of Optimal
Traction Control for Farm Tractors with Feedback of Drive Torque,”
Biosystems Engineering, vol. 129, pp. 20–33, Jan. 2015.
P. Osinenko and S. Streif, “Optimal Traction Control for Heavyduty
Vehicles,” Control Engineering Practice, vol. 69, pp. 99–111,
Dec. 2017.
A. Alexander, A. Sciancalepore, and A. Vacca, “Online Controller Setpoint
Optimization for Traction Control Systems Applied to Construction
Machinery,” in Proceedings of the 2018 Bath/ASME Symposium on
Fluid Power and Motion Control, Bath, UK, 2018.
H. B. Pacejka and I. Besselink, Tire and Vehicle Dynamics, 3rd ed.
Amsterdam: Elsevier/Butterworth-Heinemann, 2012.
S. K. Mohan and R. C. Williams, “A Survey of 4WD Traction Control
Systems and Strategies,” 1995.
H. B. Pacejka and E. Bakker, “The Magic Formula Tyre Model,” Vehicle
System Dynamics, vol. 21, no. S1, pp. 1–18, Jan. 1992.
W. S. Levine, Ed., The Control Handbook, 2nd ed. Boca Raton, Fla.:
CRC Press, 2011.
R. Husson, Ed., Control Methods for Electrical Machines. London:
Hoboken, NJ: ISTE; John Wiley, 2009.
H. K. Khalil, Nonlinear Systems, 3rd ed. Upper Saddle River, NJ:
Prentice Hall, 2002.
L.Wu, P. Shi, and X. Su, Sliding Mode Control of Uncertain Parameter-
Switching Hybrid Systems. Chichester, West Sussex, United Kingdom:
John Wiley & Sons, Inc, 2014.
L. C.Westphal, Handbook of Control Systems Engineering. Boston, MA:
Springer US, 2001.
M. D. Worley and V. La Saponara, “A Simplified Dynamic Model for
Front-end Loader Design,” Proceedings of the Institution of Mechanical
Engineers, Part C: Journal of Mechanical Engineering Science,
vol. 222, no. 11, pp. 2231–2249, Nov. 2008.
