Development of a Virtual Telehandler Model Using a Bond Graph
Recent technological advancements and evolving regulatory frameworks are catalysing the integration of renewable energy sources in construction equipment, with the objective of significantly reducing greenhouse gas emissions. The electrification of non-road mobile machinery (NRMM), particularly self...
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MDPI AG
2024-12-01
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| Online Access: | https://www.mdpi.com/2075-1702/12/12/878 |
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| author | Beatriz Puras Gustavo Raush Javier Freire Germán Filippini Pedro Roquet Manel Tirado Oriol Casadesús Esteve Codina |
| author_facet | Beatriz Puras Gustavo Raush Javier Freire Germán Filippini Pedro Roquet Manel Tirado Oriol Casadesús Esteve Codina |
| author_sort | Beatriz Puras |
| collection | DOAJ |
| description | Recent technological advancements and evolving regulatory frameworks are catalysing the integration of renewable energy sources in construction equipment, with the objective of significantly reducing greenhouse gas emissions. The electrification of non-road mobile machinery (NRMM), particularly self-propelled Rough-Terrain Variable Reach Trucks (RTVRT) equipped with telescopic booms, presents notable stability challenges. The transition from diesel to electric propulsion systems alters, among other factors, the centre of gravity and the inertial matrix, necessitating precise load capacity determinations through detailed load charts to ensure operational safety. This paper introduces a virtual model constructed through multiphysics modelling utilising the bond graph methodology, incorporating both scalar and vector bonds to facilitate detailed interconnections between mechanical and hydraulic domains. The model encompasses critical components, including the chassis, rear axle, telescopic boom, attachment fork, and wheels, each requiring a comprehensive three-dimensional treatment to accurately resolve spatial dynamics. An illustrative case study, supported by empirical data, demonstrates the model’s capabilities, particularly in calculating ground wheel reaction forces and analysing the hydraulic self-levelling behaviour of the attachment fork. Notably, discrepancies within a 10% range are deemed acceptable, reflecting the inherent variability of field operating conditions. Experimental analyses validate the BG-3D simulation model of the telehandler implemented in 20-SIM establishing it as an effective tool for estimating stability limits with satisfactory precision and for predicting dynamic behaviour across diverse operating conditions. Additionally, the paper discusses prospective enhancements to the model, such as the integration of the virtual vehicle model with a variable inclination platform in future research phases, aimed at evaluating both longitudinal and lateral stability in accordance with ISO 22915 standards, promoting operator safety. |
| format | Article |
| id | doaj-art-82334525bd744247a633d05ca6b60cf0 |
| institution | DOAJ |
| issn | 2075-1702 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-82334525bd744247a633d05ca6b60cf02025-08-20T02:57:19ZengMDPI AGMachines2075-17022024-12-01121287810.3390/machines12120878Development of a Virtual Telehandler Model Using a Bond GraphBeatriz Puras0Gustavo Raush1Javier Freire2Germán Filippini3Pedro Roquet4Manel Tirado5Oriol Casadesús6Esteve Codina7Department of Mechanics, CATMECH-LABSON, Universitat Politècnica de Catalunya (UPC), Colom 11, 08222 Terrassa, SpainDepartment of Fluid Mechanics, CATMECH-LABSON, Universitat Politècnica de Catalunya (UPC), Colom 11, 08222 Terrassa, SpainDepartment of Mechanics, CATMECH-LABSON, Universitat Politècnica de Catalunya (UPC), Colom 11, 08222 Terrassa, SpainEscuela de Ingeniería Mecánica, Facultad de Ciencias Exactas, Ingeniería y Agrimensura, Universidad Nacional de Rosario, Rosario S2000CGK, ArgentinaROQUET HYDRAULICS S.L., Antonio Figueras 91, 08551 Tona, SpainAUSA S.L., Castelladral 1, 08243 Manresa, SpainAUSA S.L., Castelladral 1, 08243 Manresa, SpainDepartment of Fluid Mechanics, CATMECH-LABSON, Universitat Politècnica de Catalunya (UPC), Colom 11, 08222 Terrassa, SpainRecent technological advancements and evolving regulatory frameworks are catalysing the integration of renewable energy sources in construction equipment, with the objective of significantly reducing greenhouse gas emissions. The electrification of non-road mobile machinery (NRMM), particularly self-propelled Rough-Terrain Variable Reach Trucks (RTVRT) equipped with telescopic booms, presents notable stability challenges. The transition from diesel to electric propulsion systems alters, among other factors, the centre of gravity and the inertial matrix, necessitating precise load capacity determinations through detailed load charts to ensure operational safety. This paper introduces a virtual model constructed through multiphysics modelling utilising the bond graph methodology, incorporating both scalar and vector bonds to facilitate detailed interconnections between mechanical and hydraulic domains. The model encompasses critical components, including the chassis, rear axle, telescopic boom, attachment fork, and wheels, each requiring a comprehensive three-dimensional treatment to accurately resolve spatial dynamics. An illustrative case study, supported by empirical data, demonstrates the model’s capabilities, particularly in calculating ground wheel reaction forces and analysing the hydraulic self-levelling behaviour of the attachment fork. Notably, discrepancies within a 10% range are deemed acceptable, reflecting the inherent variability of field operating conditions. Experimental analyses validate the BG-3D simulation model of the telehandler implemented in 20-SIM establishing it as an effective tool for estimating stability limits with satisfactory precision and for predicting dynamic behaviour across diverse operating conditions. Additionally, the paper discusses prospective enhancements to the model, such as the integration of the virtual vehicle model with a variable inclination platform in future research phases, aimed at evaluating both longitudinal and lateral stability in accordance with ISO 22915 standards, promoting operator safety.https://www.mdpi.com/2075-1702/12/12/878telehandlerexperimentationsimulationdynamic modelmulti-solidmultidomain |
| spellingShingle | Beatriz Puras Gustavo Raush Javier Freire Germán Filippini Pedro Roquet Manel Tirado Oriol Casadesús Esteve Codina Development of a Virtual Telehandler Model Using a Bond Graph Machines telehandler experimentation simulation dynamic model multi-solid multidomain |
| title | Development of a Virtual Telehandler Model Using a Bond Graph |
| title_full | Development of a Virtual Telehandler Model Using a Bond Graph |
| title_fullStr | Development of a Virtual Telehandler Model Using a Bond Graph |
| title_full_unstemmed | Development of a Virtual Telehandler Model Using a Bond Graph |
| title_short | Development of a Virtual Telehandler Model Using a Bond Graph |
| title_sort | development of a virtual telehandler model using a bond graph |
| topic | telehandler experimentation simulation dynamic model multi-solid multidomain |
| url | https://www.mdpi.com/2075-1702/12/12/878 |
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