A Virtual Reality Operator Interface Station with Hydraulic Hardware-in-the-Loop Simulation for Prototyping Excavator Control Systems

4682 Words Sep 30th, 2014 19 Pages
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Suntec Convention and Exhibition Center Singapore, July 14-17, 2009

A Virtual Reality Operator Interface Station with Hydraulic Hardware-in-the-Loop Simulation for Prototyping Excavator Control Systems
Mark D. Elton, Aaron R. Enes, and Wayne J. Book, Fellow, IEEE

Abstract— A multimodal operator interface station is developed to display a realistic virtual reality depiction of a compact excavator performing general digging tasks. The interface station includes engine audio feedback and a near life-size operator display attached to a full-size cab. The excavator dynamics are determined by models of the hydraulic system, the linkage system, and the soil
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The most complicated part of mobile hydraulic machines such as farm, construction, and mining equipment is the human operator. To measure and evaluate energy efficiency
This work was made possible through the generous support of HUSCO International: particular acknowledgment is made to Gus Ramirez, CEO; and to Dwight Stephenson, VP of Engineering. Acknowledgment is also made to the Bobcat Company for in kind donations and to J.D. Huggins, a Research Engineer at Georgia Tech. This work is affiliated with the Center for Compact and Efficient Fluid Power, an Engineering Research Center funded by the National Science Foundation (contract EEC-0540834). A. Enes is a Ph.D. Candidate aaron.enes@gatech.edu M. Elton is a Ph.D. Student mark.elton@gatech.edu W. Book is a Professor and the HUSCO/Ramirez Distinguished Chair in Fluid Power and Motion Control wayne.book@me.gatech.edu All authors are in the Department of Mechanical Engineering at the Georgia Institute of Technology, Atlanta, GA 30332, USA

or productivity changes of a new control design, humangiven control signals must be input to the plant. Often during testing, these signals are pre-recorded and thus remove the operator dynamics from the control loop. However, an operator’s input is often a

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