Jargons related to this presentation

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Jargons related to this presentation

• EVPS Earthmoving Vehicle Power-train Simulator
• MMS Model Matching System
• ID System Identification
• SigLab A Virtual Instrument version of Digital
  System Analyzer
• VSS Virtual Sweep Sine, frequency domain
  analysis using SigLab
• ARG Alleyne Research Group
• BigCat Computer workgroup for this CAT sponsored
  EVPS project

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Load Model Development

• for Earthmoving Vehicle Power-train Simulator
  (EVPS)

group seminar on Oct. 7th, 1999 student Rong
Zhang advisor Andrew Alleyne team partner
Eko Prasetiawan, Keqiang Wu project sponsor
Caterpillar
ALLEYNE RESEARCH GROUP
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Overview

• Introduction of EVPS
• Methodology of MMS
• Schematic of MMS
• Reference Model for Load 1
• Plant Model for Load 1
• Summary

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Loads on Hydrostatic Power Train
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RESERVOIR
LOAD UNIT 1
LOAD UNIT 2
LOAD UNIT 3
EVPS Earth-moving Vehicle Power-train Simulator
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Reality v.s. Simulator
Power-train Simulator
Earthmover Vehicle
?
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Methodology of Model Matching...

• Physical REFERENCE System
• the actual system to be investigated. E.g. an
  earthmover.
• Physical PLANT
• the available system used to emulate the
  Reference. E.g. a simulator.
• Model Matching
• to control the PLANT, making it perform like the
  REFERENCE.

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...Methodology of Model Matching...
Practice ? Theory ? Practice

• Step 1 REFERENCE modeling
• Step 2 PLANT modeling
• Step 3 Model Matching System design
• Step 4 Model Matching System implementation

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Development of Model Matching System
Experimentation
Simulation
Simulation
Experimentation
Physical R-System
Reference Model
Physical MMS-Testbed
MMS Model
Modeling
MMS Design
Simulation
Physical Plant
Plant Model
Developing
System ID
Validating
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Schematic of Model Matching System

• Feed Forward Method
• using knowledge of both Reference and Plant model
  to cancel Plant dynamics
• Feed Back Method
• simulating the Reference system, and tracking the
  desired output
• Combined Method
• a combination of both FF and FB methods

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Feed Forward MMS
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Feed Forward MMS for LTI
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Feed Back MMS
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Feed Back MMS for LTI
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Combined (FFFB) MMS
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Reference Model for Load 1 Traction Model
Magic formula model
to simulate the traction effect as a load on the
hydrostatic transmission.
- Driving torque on wheel shaft
- Wheel rotation speed
- Vehicle translation speed
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Simulations of Traction Model
A. Sufficient Traction
B. Insufficient Traction
C. Marginal Traction
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Plant Model for Load 1 System ID

• Frequency domain analysis
• Using SigLab to do VSS
• Time domain analysis
• Using Step Response to estimate 2nd order
  parameters

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(No Transcript)
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Frequency Domain ID Results
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Time Domain ID Results
Step Response
Major Poles of Plant
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Summary
? DONE ? DOING ? WILL DO