Control systems and architectures for automated wheel loaders

Abstract

Automated wheel loader control system architectures, and corresponding control systems and methods for automated wheel loaders. The control architecture includes an engine speed controller, a vehicle speed controller, a bucket lift speed controller, a bucket tilt speed controller, and a steering controller. The controllers are decoupled from one another. Engine speed, vehicle speed, lift speed, tilt speed and vehicle position signals are used to affect engine throttle, brake pedal, lift valve command, tilt valve command, and steering wheel speed, respectively, to track desired reference signals. The control architecture is formatted such that desired engine speed must be generated, while the other reference signals are inputs to the system. Regardless, the reference profile for each subsystem is generated by corresponding optimization algorithms.

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