Real-Time Multibody Model-Based Heads-Up Display Unit of a Tractor

Abstract

The concept of heads-up display can be used to provide augmented information onto the windshield of a tractor. The objective of this paper is to introduce a detailed real-time multibody model that is used in the design of a novel heads-up display unit of a tractor. To this end, a tractor is described using a multibody dynamics approach. A heads-up display unit is designed using a series of tasks that are associated with sets of logical conditions and instructions. These conditions and instructions, in turn, determine/design the analog and digital gauges. The gauges are linked with the virtual sensors installed at a number of locations on the tractor. In this study, the heads-up display unit includes elements, such as tachometer, speedometer, roll inclinometer, gear indicator, fuel gauge, and bucket height, tilt, and weight indicators. The effectiveness of the heads-up display unit is determined based on a goal of moving a certain amount of sand from one place to another. The results demonstrate the utility of the heads-up display unit.

Comparison of Various Hybrid Electric Powertrains for Non-Road Mobile Machinery Using Real-Time Multibody Simulation

“…Driving styles of various operators and their effect on energy efficiency can be studied using the developed models. Furthermore, the multibody approach used in this study allows further development in the tire-soil interaction to replicate agricultural soil behavior, gamification [47], to aid operator training and the development of a heads-up display [57] to show real-time hybrid powertrain information to the driver.…”

“…The total weight of the tractor is 7833 kg, where 48.34% of the weight is in the front axle and 51.66% is on the rear axle and the wheelbase is 2.67 m. The tractor model is simulated in a C++ environment (compiler: Microsoft Visual Studio, version 14.1). For more details on the multibody modeling of the tractor, readers are referred to [57] and [38].…”

“…Using this solver, the communication manager discretely handles data transfer between the subsystems through a TCP/IP socket connection at a time-step of 1.2 ms. The multibody tractor model is solved by a fourth order Runge-Kutta solver at a larger time-step of 1.2 ms as in [38], [57]. These configurations allow the co-simulation to occur at a low computational cost with real-time capability.…”

Physics-Based Digital Twins Merging With Machines: Cases of Mobile Log Crane and Rotating Machine

“…The equations of motion for a closed-loop system can be formulated by incorporating the cut-joint constrained equations into the dynamics of the open-loop system [26]. As demonstrated recently, the semirecursive formulation is well suited for real-time simulation applications [10], [27], [28]. The accuracy of MBS can be improved by also addressing the deformation of bodies, which results in a more computationally intensive simulation.…”

“…The Indirect Kalman filter is based on the previously described Extended Kalman filter. In the indirect (error-state) filtering approach [40], [46], [27], instead of estimating the variables of interest, the errors of the variables are estimated. Here, a multibody model is run without modifications, and the indirect (error-state) filter estimates the drift of the multibody model with respect to the measurements available.…”