Intelligent loading and unloading stages of loader based on data-driven control

IF 6.2 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Ain Shams Engineering Journal Pub Date : 2026-03-01 Epub Date: 2026-02-10 DOI:10.1016/j.asej.2026.104020

Bingwei Cao , Guangliang Tian , Changhao Mu , Junda Li

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引用次数: 0

Abstract

Dynamically changing state variables increase the complexity of the loader during the Loading and Unloading Stages (LUSs). These variables include the height of the truck, the position of the stockpile, and the attitude of the working device. This paper proposes a novel data-driven control strategy to automate the complex, dynamic LUSs of loaders. Specifically, data-driven control strategies automatically lift, flip, and lower the bucket. These strategies ensure that the task requirements of different operation stages are correctly completed. Experimental validation revealed a control deviation in the attitude of the bucket. Based on the analysis, it was clarified that the lag of the control signal was the main factor causing the deviation. Subsequently, this paper proposes a control strategy based on Machine Learning (ML) that maintains error within 0.4% when the engine speed is relatively stable. This paper provides a clear, intelligent operation realization scheme for earthmoving machines.

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基于数据驱动控制的装载机智能装卸阶段

动态变化的状态变量增加了加载器在加载和卸载阶段（LUSs）的复杂性。这些变量包括卡车的高度、库存的位置和工作装置的姿态。本文提出了一种新的数据驱动控制策略来实现装载机复杂的动态负载控制。具体来说，数据驱动的控制策略可以自动提升、翻转和降低铲斗。这些策略确保正确完成不同操作阶段的任务要求。实验验证揭示了铲斗姿态的控制偏差。在分析的基础上，明确了控制信号的滞后是造成偏差的主要因素。随后，本文提出了一种基于机器学习（ML）的控制策略，在发动机转速相对稳定的情况下，将误差保持在0.4%以内。本文为土方机械提供了一种清晰、智能的操作实现方案。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Ain Shams Engineering Journal Engineering-General Engineering

CiteScore

10.80

自引率

13.30%

发文量

441

审稿时长

49 weeks

期刊介绍： in Shams Engineering Journal is an international journal devoted to publication of peer reviewed original high-quality research papers and review papers in both traditional topics and those of emerging science and technology. Areas of both theoretical and fundamental interest as well as those concerning industrial applications, emerging instrumental techniques and those which have some practical application to an aspect of human endeavor, such as the preservation of the environment, health, waste disposal are welcome. The overall focus is on original and rigorous scientific research results which have generic significance. Ain Shams Engineering Journal focuses upon aspects of mechanical engineering, electrical engineering, civil engineering, chemical engineering, petroleum engineering, environmental engineering, architectural and urban planning engineering. Papers in which knowledge from other disciplines is integrated with engineering are especially welcome like nanotechnology, material sciences, and computational methods as well as applied basic sciences: engineering mathematics, physics and chemistry.