Optimal control of wheel loader actuators in gravel applications

The paper is about finding the global optimum for a wheel loader work cycle in a gravel application. This includes simulating the gravel and extracting the trajectories for the main actuators; propulsion, lift and tilt, during the work cycle. The optimal control method is dynamic programming and the optimum is calculated with regard to fuel efficiency [ton/l] but can be weighted towards productivity [ton/h]. The analytical optimal control results are compared to an extensive empirical measurement done on a wheel loader and shows around 15% higher fuel efficiency compared to the highest fuel efficiency measured among real operators.