A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving
Estimation of the center of gravity (CG) is the basis for intelligent control of the front-and-rear-axis-independent electric driving wheel loaders (FREWLs). This paper presents a novel real-time method for estimating the CG of FREWLs, which is suitable for driving and spading conditions on bumpy ro...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/6621060 |
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| _version_ | 1832546819524001792 |
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| author | Zhiyu Yang Jixin Wang Yunwu Han |
| author_facet | Zhiyu Yang Jixin Wang Yunwu Han |
| author_sort | Zhiyu Yang |
| collection | DOAJ |
| description | Estimation of the center of gravity (CG) is the basis for intelligent control of the front-and-rear-axis-independent electric driving wheel loaders (FREWLs). This paper presents a novel real-time method for estimating the CG of FREWLs, which is suitable for driving and spading conditions on bumpy roads. A FREWL dynamical model is proposed to set up the state-space model. The CG estimator is used to estimate the longitudinal tire force using the state-space model and the improved square-root unscented Kalman filter (ISR-UKF) algorithm. The simulation and experimental results indicate that this method is suitable for FREWL dynamics and operational characteristics, and the estimated value of CG basically converges to the reference value. Finally, the probable reasons for error occurring in two experiments and the practical challenges of this method are discussed. The research in this paper establishes a partial theoretical basis for intelligent control of construction machinery. |
| format | Article |
| id | doaj-art-8ff19de2c3624371807dd34d56793e4a |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-8ff19de2c3624371807dd34d56793e4a2025-02-03T06:47:02ZengWileyJournal of Control Science and Engineering1687-52491687-52572021-01-01202110.1155/2021/66210606621060A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric DrivingZhiyu Yang0Jixin Wang1Yunwu Han2Chongqing Key Laboratory of Manufacturing Equipment Mechanism Design and Control, Chongqing Technology and Business University, Chongqing 400067, ChinaSchool of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, ChinaSchool of Intelligent Transportation, Jiangsu Vocational College of Electronics and Information, Huaian 223003, ChinaEstimation of the center of gravity (CG) is the basis for intelligent control of the front-and-rear-axis-independent electric driving wheel loaders (FREWLs). This paper presents a novel real-time method for estimating the CG of FREWLs, which is suitable for driving and spading conditions on bumpy roads. A FREWL dynamical model is proposed to set up the state-space model. The CG estimator is used to estimate the longitudinal tire force using the state-space model and the improved square-root unscented Kalman filter (ISR-UKF) algorithm. The simulation and experimental results indicate that this method is suitable for FREWL dynamics and operational characteristics, and the estimated value of CG basically converges to the reference value. Finally, the probable reasons for error occurring in two experiments and the practical challenges of this method are discussed. The research in this paper establishes a partial theoretical basis for intelligent control of construction machinery.http://dx.doi.org/10.1155/2021/6621060 |
| spellingShingle | Zhiyu Yang Jixin Wang Yunwu Han A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving Journal of Control Science and Engineering |
| title | A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving |
| title_full | A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving |
| title_fullStr | A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving |
| title_full_unstemmed | A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving |
| title_short | A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving |
| title_sort | novel real time center of gravity estimation method for wheel loaders with front rear axle independent electric driving |
| url | http://dx.doi.org/10.1155/2021/6621060 |
| work_keys_str_mv | AT zhiyuyang anovelrealtimecenterofgravityestimationmethodforwheelloaderswithfrontrearaxleindependentelectricdriving AT jixinwang anovelrealtimecenterofgravityestimationmethodforwheelloaderswithfrontrearaxleindependentelectricdriving AT yunwuhan anovelrealtimecenterofgravityestimationmethodforwheelloaderswithfrontrearaxleindependentelectricdriving AT zhiyuyang novelrealtimecenterofgravityestimationmethodforwheelloaderswithfrontrearaxleindependentelectricdriving AT jixinwang novelrealtimecenterofgravityestimationmethodforwheelloaderswithfrontrearaxleindependentelectricdriving AT yunwuhan novelrealtimecenterofgravityestimationmethodforwheelloaderswithfrontrearaxleindependentelectricdriving |