MATHEMATICAL MODEL OF THE ELECTRO-HYDRAULIC DRIVE OF THE WORKING EQUIPMENT OF A WHEEL LOADER FOR AN INFORMATION AND CONTROL SYSTEM
Abstract
DOI: https://doi.org/10.26565/2079-1747-2026-37-10
The control of a wheel loader’s working equipment is characterized by a significant number of uncertainties arising from variable interaction conditions between the bucket and the material, internal leaks in the hydraulic system, compressibility of the working fluid, as well as the influence of external loads and variations in the parameters of the actuator components during operation. These uncertainties complicate the development of adequate mathematical models and reduce the efficiency of the automatic control system for the working equipment, since the model fails to reflect the actual system dynamics accurately.
The aim of this study is to improve the efficiency of wheel loader working equipment control by developing a mathematical model of the electro-hydraulic actuator that is suitable for implementation in the machine’s information and control system. The study employs methods of mathematical modelling of dynamic systems and linearization of nonlinear equations, with the resulting model represented in state space. The model was developed based on the structure of the electrohydraulic actuator control system, accounting for the principal physical processes in the actuator.
A linearized mathematical model of the electro-hydraulic actuator was obtained and represented in state space as a system of six first-order differential equations. The simulation results in MATLAB/Simulink are in good agreement with the physical processes in the electro-hydraulic actuator of the wheel loader’s working equipment and confirm the adequacy of the proposed model.
The developed model can serve as a basis for designing information and control systems for wheel loaders and other construction machinery, enabling effective real-time control of the working equipment under conditions of uncertainty.
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References
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