TMHP01 Student Project autumn 2013

Secondary controlled hydrostatic

transmission for pendulum arm forwarder
Forwarders are heavy vehicles used to haul timber in the forest. Increased
demands on productivity, working environment for the driver and lowered
impacts on the surroundings have resulted in a need to equally distribute
tractive and normal contact forces on as many wheels as possible as well
as a need to isolate the driver from the ground topography. One way of
solving this is by using pendulum arms that can control the height on
each wheel individually. The aim of this project is to develop a
hydrostatic transmission control for such a forwarder.

System description Secondary control

Three-bodied vehicle with six wheels and two Constant pressure controlled pump.
steering joints. Output velocity controlled via the motor
displacement setting.

Secondary controlled circuit.

Drive cycle results
Chosen concept works as a hydraulic differential.
Can handle velocity compensation in both
Pendulum arm. Sketch of forwarder body.
turning motion and during pendulum arm
Two closed hydraulic circuits with three motors movement
and one pump each.

Hydraulic transmission circuit. Velocity compensation in turning motion and

obstacle (at 5 s).

IEI Department of Management and Engineering

Division of Fluid and Mechatronic System

K. Viktor L. Viktor Fredrik Jan

Larsson Larsson Henriksen Malecki