MODELLING OF A SECONDARY CONTROLLED SIX-WHEEL PENDULUM ARM FORWARDER
2015 (English)Conference paper (Refereed)
One of the major concerns in the forest industry is the impact on the soil caused by the forest machines during harvesting, where damage can have a negative impact on growth at replanting for example. Another concern is the working environment of the operator. Both these issues have a negative impact on productivity. A new six-wheel pendulum arm forwarder is being developed within a collaborative research project. The new forwarder aims to reduce soil damage by means of an even pressure distribution and smooth torque control. This paper presents the first step in the development of the driveline, where a secondary control approach is chosen for its ability to control the motion of each wheel individually. Simulation models of both vehicle and driveline have been constructed developed, partly for the development of the control strategy, and partly for evaluation. A speed control concept and a torque control concept have both been evaluated for different scenarios with regard to their ability to reduce wheel slip. Results have shown that a velocity control approach is more sensitive to kinematic model accuracy while wheel slip is handled automatically. A torque control approach is more robust towards model accuracy while the reduction of slip is dependent on an accurate model.
Place, publisher, year, edition, pages
, 14th Scandinavian International Conference on Fluid Power (SICFP'15), ISSN 2342-2726
IdentifiersURN: urn:nbn:se:liu:diva-118308ISBN: 978-952-15-3530-7OAI: oai:DiVA.org:liu-118308DiVA: diva2:814310
14th Scandinavian International Conference on Fluid Power (SICFP'15)