Digging control system for hydraulic excavator

Haga, Masakazu; Watanabe, Hiroshi; Fujishima, Kazuo

doi:10.1016/s0957-4158(00)00043-x

Cited by 70 publications

(31 citation statements)

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“…The influence of external leakage is neglected in this paper. y can be expressed as a function of 2 θ .Then equation (6) and (7) can be rebuilt as:…”

Section: Givenmentioning

confidence: 99%

“…For that reason, studying the automation of hydraulic excavators is necessary for improving productivity, efficiency, and safety [1] [2]. The automation of hydraulic excavators has been studied by several researchers in [1]- [6], and so on. Among the fundamental element used as a basis for developing more complicated tasks, the Control of excavator's arm is an important and basic task in autonomous research of hydraulic excavator at present, and this work is difficult from the standpoint of the following problems: parameter variations in mechanical structures, various nonlinearities in hydraulic actuators, and disturbance due to the contact with the ground.…”

Section: Introductionmentioning

confidence: 99%

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Modeling and Controlling for Hydraulic Excavator's Arm

Zhang¹,

He²,

Hao³

2005

Proceedings of the 22nd International Symposium on Automation and Robotics in Construction

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Abstract-Controlling of excavator's arm is an important and basic task in autonomous research of hydraulic excavator at present, but the behavior of the excavator's arm is dominated by the nonlinear dynamics of the hydraulic actuators. To find a feasible way to control excavator's arm and realize autonomous excavation, firstly, Full kinematic and dynamic models of the excavator arm, regarded as a planar manipulator with three degrees (boom, dipper and bucket) of freedom, were derived, the exponential product formula based on screw theory was used in kinematic model, by which objective angular series of the working mechanism was connected with the desired trajectory of the bucket, and the Lagrange equation was used in dynamic model. secondly, because the experimental excavator's LUDV hydraulic system was not fit for computer control, so the excavator was retrofitted with electrohydraulic proportional valves, associated sensors (three inclinometers), and a computer control system(the motion controller of EPEC), the retrofitted excavator could allow experimental evaluation and refinement of the developed controllers, then ,the full nonlinear math model of electrohydraulic proportional system was achieved; These models included detailed representation of the electrohydraulic actuation system to obtain structural insight into the dynamic behavior of the system; thirdly, According to the highly system dynamic, and parameters uncertainties, external disturbance, the dead region and nonlinear gain coefficient of the proportional direction valve, this paper presents a discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve and the nonlinear of the whole system, the error is deal with robust feedback and an adaptive robust controller was designed. Finally, the experiment of the boom motion control is presented to illustrate the feasibility. The thesis covered some phases from modeling to theoretical analysis of controller designs, and to implementation and experimental validation of the new control schemes. These efforts had resulted in new control design methodologies that were applicable to several hydraulic proportional systems when high control performance is required in the presence of severe nonlinearity and uncertainty.

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“…The influence of external leakage is neglected in this paper. y can be expressed as a function of 2 θ .Then equation (6) and (7) can be rebuilt as:…”

Section: Givenmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling and Controlling for Hydraulic Excavator's Arm

Zhang¹,

He²,

Hao³

2005

Proceedings of the 22nd International Symposium on Automation and Robotics in Construction

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“…Kinematic and dynamic modeling of the mechanical motion of an excavator have been reported in [1][2][3]. Control methods for straight-line motion tracking can be found in [4,5]. Position control of hydraulic excavators has been studied using PD type fuzzy with steady-state error compensation [6] or using high-gain observers for nonlinear output feedback control [7].…”

Section: Introductionmentioning

confidence: 99%

Utilizing online learning based on echo-state networks for the control of a hydraulic excavator

et al. 2014

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“…At present, Newton-Euler and Lagrange equation [1,2] are widely used in the dynamics research. For the complex logical deduction and hard solution in these equations, the Huston method based on Kane equation [3] is used in this paper to analyse the working device of hydraulic excavator which involves boom, arm and bucket.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Analysis and Fuzzy Control for the Working Device of Hydraulic Excavator

Xie

2016

Advances in Intelligent Systems and Computing

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The Kane-Huston is adopted in this paper to build the topological structure for the working device of hydraulic excavator. And the virtual prototyping model of the working device is built by the virtual prototype analysis software. Through analysis of the mechanical properties of working device on real working condition and comparing the inverse dynamics gotten by the Kane-Huston with that gotten by the virtual prototype model in software, the correctness of the dynamic equations from the Kane-Huston is verified. Finally, fuzzy control method is used for the optimization of bucket tip trajectory and it has good control effect in the software simulation environment.

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Digging control system for hydraulic excavator

Cited by 70 publications

References 0 publications

Modeling and Controlling for Hydraulic Excavator's Arm

Modeling and Controlling for Hydraulic Excavator's Arm

Utilizing online learning based on echo-state networks for the control of a hydraulic excavator

Dynamics Analysis and Fuzzy Control for the Working Device of Hydraulic Excavator

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