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

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Submitted By lequanghoan
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Pages 19
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 digging forces. To maximize the fidelity of the hydraulic model, certain “virtual” components of the model are replaced with real-time hardware-in-the-loop (HIL) simulations of the actual hardware. HIL simulation is done in a geographically isolated facility, with Internet based communication between HIL and the Remote Operator Interface. This is the first reported high-fidelity operator interface to be combined with remote hydraulic HIL simulations.

I. I NTRODUCTION Hydraulic hardware has undergone a great evolution in recent years, evolving from purely hydro-mechanical devices to electro-hydraulic systems controlled by microprocessors. The use of electronic controllers opens the door to improving dynamic performance and enhancing traditional hydraulic off-highway construction machines with new features such as increased energy efficiency, improved operator controllability, and overall increases in productivity. With these added capabilities often comes added system complexity, particularly in the area of system controls and operator interfaces. New controllers are designed and often tested on models of systems, but hydraulic components…...

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