Multirate Integration for Real-Time Simulation of Wheel Loader Hydraulics
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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.
2020 ◽
Vol 13
(1)
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pp. 16
2019 ◽
Vol 534
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pp. 012010
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2021 ◽
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1997 ◽
Vol 21
(1-2)
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pp. S1111-S1115
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