Adaptive control of bulldozer's workflows Bulgakov, Alexey; Bock, Thomas; Tokmakov, Georgy
The most important task for bulldozer’s traction mode control is to use its traction capacity in full by means of its end-effectors control. To keep traction mode at maximum or at a given resistance value applied to end-effectors automatically is difficult due to a great number of stochastic factors affecting the bulldozer. Bulldozer is taken as a mechatronic system [1, 2]. The study presents analytic dependences for the sub-processes where analytic modeling based on bulldozer’s parameters correlation knowledge is applicable. Models of the sub-processes are included into the general structure of bulldozer’s workflow simulation model. Simulation technique is demonstrated through model development of the bulldozer as a universal machine operating in modes of soil movement and subgrade surfacing. In developing the models mathematical apparatus of the theory of random processes, transfer functions, table interpolation, numerical solution of algebraic equations and ordinary differential equations in the Cauchy form was used. A dynamic model of the drawing prism formation was developed describing the dependence of the volume of prism on the variable digging depth and variable bulldozer speed. A general structure of the model of bulldozer’s workflows  due to the working process control objectives was developed.
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