Development of a Controller Element for Compatible Operator Control of Earthmoving Machines

摘要

Manual control of dozing with an earthmoving tractor is studied to determine ways to modify the manipulator and control system properties to improve performance and reduce operator workload. The Universal Engineer Tractor is used as a numerical example. Linearized equations are derived for longitudinal and lateral motions which include manipulator and suspension properties, vehicle hull and blade dynamics, and terrain loads on the blade. The resultant detailed dynamic model is reduced to a simplified equivalent for analysis and simulation. Transfer functions are computed and used to study the operator's blade control in response to various visual and motion cues. This indicates which feedbacks the operator should use, and how the controlled element dynamics can be improved through design modifications. A fixed-base mock-up and dynamic simulation are used to evaluate competing manipulator/controller configurations. As a result, a prototype manipulator is defined which has the potential of improving dozing performance, reducing training time, and easing the operator workload. (Author)