First Steps Toward The Development Of Virtual Platform For Validation Of Autonomous Wheel Loader At Pulp-And-Paper Mill: Modelling, Control And Real-Time Simulation

2021 ◽  
Author(s):  
Michael A. Kerr ◽  
Danielle S. Nasrallah ◽  
Tsz-Ho Kwok
Keyword(s):  
Real Time ◽  
Paper Mill ◽  
Pulp And Paper ◽  
Pulp And Paper Mill ◽  
Wheel Loader ◽  
Real Time Simulation ◽  
Time Simulation ◽  
Virtual Platform

Multirate Integration for Real-Time Simulation of Wheel Loader Hydraulics

1999 ◽  
Author(s):  
Laurenţiu I. Buzdugan ◽  
Ole Balling ◽  
Peter Chien-Te Lee ◽  
Claus Balling ◽  
Jeffrey S. Freeman ◽  
...  
Keyword(s):  
Real Time ◽  
System Modeling ◽  
Pressure Fluctuations ◽  
Integration Scheme ◽  
Step Size ◽  
Integration Algorithm ◽  
Wheel Loader ◽  
Real Time Simulation ◽  
Time Simulation ◽  
Dynamics Models

Abstract This paper details a real-time simulation of an articulating wheel loader, which is comprised of a multibody system modeling the chassis and the bucket assembly and a set of subsystems. The hydraulic subsystem is modeled by a set of ODE’s which represent the oil pressure fluctuations in the system. An Adams-Bashforth-Moulton integration algorithm has been implemented using the Nordsieck form to develop a constant step-size multirate integration scheme, modeling the interaction between the hydraulic subsystem and multibody dynamics models. An example illustrating the simulation of a wheel loader bucket operation is presented at the end of the paper.

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