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Sekundärreglerad hydraulisk transmission i en sexhjulig skotare Liselott Ericson Linköpings universitet.

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Presentation on theme: "Sekundärreglerad hydraulisk transmission i en sexhjulig skotare Liselott Ericson Linköpings universitet."— Presentation transcript:

1 Sekundärreglerad hydraulisk transmission i en sexhjulig skotare Liselott Ericson Linköpings universitet

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3 Soil damages Outdoor activities and recreation values Biological effects Damages which lead to reduced timber production 3

4 4

5 Pendulum arms Purpose Even soil pressure Increased comfort for the operator Reduced slip 5

6 The forwarder 6

7 Forwarder transmission 7

8 Primary control Secondary units The primary unit controls the speed of the load The torque is the result of the load Primary unit 8

9 p pp p ref Secondary control CpCp Primary unit Secondary units The primary unit controls the system pressure The secondary unit controls the torque or speed of the load 9

10 Why secondary control? Control output energy individually Possibility to include an accumulator and store energy Varierande laster Moment eller varvtal regleras på deplcamentet 10

11 CpCp pp p ref p Speed control strategy 11

12 Speed control strategy  ref C    m,1 C    m,2 v ref 12

13 Speed control strategy  m,1 C   C    ref Kinematic model  ref,2  ref,1  m,2 v ref 13

14 Torque control strategy v ref CC v current  ref,2  ref,1  m,1  m,2  C s   C s  p 14

15 Summary Two control strategies is purposed – Speed control – differential lock with adjusted wheel speed – Torque control – differential with slip counter measure Soil damage is supposed to be reduced by less slip Next step: Try and compare the strategies in the forwarder 15


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