Year: 2024
Type: article
Abstract: We investigate how well a physics-based simulator can replicate a real wheel loader performing bucket filling in a pile of soil. The comparison is made using field-test time series of the vehicle motion and actuation forces, loaded mass, and total work. The vehicle was modeled as a rigid multibody system with frictional contacts, driveline, and linear actuators. For the soil, we tested discrete-element models of different resolutions, with and without multiscale acceleration. The spatiotemporal resolution ranged between 50–400 mm and 2–500 ms, and the computational speed was between 1/10,000 to 5 times faster than real time. The simulation-to-reality gap was found to be around 10% and exhibited a weak dependence on the level of fidelity, e.g., compatible with real-time simulation. Furthermore, the sensitivity of an optimized force-feedback controller under transfer between different simulation domains was investigated. The domain bias was observed to cause a performance reduction of 5% despite the domain gap being about 15%.
Source: Multibody System Dynamics
Authors: Koji Aoshima, Martin Servin
Institutions: Komatsu (Japan), Umeå University, Algoryx Simulation (Sweden)
Language: English
Subfield: Automotive Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $3,890
Funder: Komatsu
OpenAlex ID: W4400823964