Degree Type

Dissertation

Date of Award

2004

Degree Name

Doctor of Philosophy

Department

Mechanical Engineering

First Advisor

Atul G. Kelkar

Abstract

This dissertation is about control and real time virtual reality simulation of a type of off highway machine known as a wheel loader. Wheel loaders are hydraulically operated machines which are used for material handling and excavation for construction, industrial, and agricultural purposes. The wheel loader has a linkage attached to the front of the machine used for manipulating a bucket or other work tool. In this dissertation, work is aimed at designing PI, LQG, Hinfinity, and nonlinear controllers for an electro-hydraulic front loader and comparing these designs for possible implementation on a real-life machine. The controller designs are shown to have various degrees of stability robustness and nominal performance. A nonlinear control design technique know as feedback linearization is used in conjunction with a linear Hinfinity control design to yield a control system with superior robustness properties. A virtual reality simulation is developed and used to implement a human-in-the loop test for evaluating the automatic control system.

DOI

https://doi.org/10.31274/rtd-180813-8821

Publisher

Digital Repository @ Iowa State University, http://lib.dr.iastate.edu

Copyright Owner

Roger Fales

Language

en

Proquest ID

AAI3145637

File Format

application/pdf

File Size

116 pages

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