Modeling the Driving Dynamics of a Hydraulic Construction Vehicle

Abstract

Automation of construction sites continues to grow with the application of automated driving functionalities and further Industry 4.0 technologies for the deployed vehicles. By developing assistance systems that control the hydraulic actuators of machines in a construction zone, they are able to move between operating locations and perform different tasks autonomously. A model describing the system's driving dynamics and, therefore, representing its behavior is necessary in order to facilitate such automated functionality and the required underlying controllers. Further use cases for such a model include various safety applications such as critical load limit control of the vehicle's engine. This work presents the mathematical model of a telescopic handler's driving function, which is actuated hydraulically and powered by a diesel engine. It is derived by considering the vehicle's physical properties and identifying the unknown parameters. When combining the findings of this work with the dynamics of a telescopic handler's work functionality, the resulting complete model provides a basis for the design of controllers that consider the behavior of the system as a whole.