Proportional‐Integral‐Plus Control of an Intelligent Excavator

Gu, Juping; Taylor, C. James; Seward, Derek

doi:10.1111/j.1467-8667.2004.00334.x

Cited by 40 publications

(29 citation statements)

References 13 publications

(18 reference statements)

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“…Gu et al from Lancaster University developed the Lancaster University Computerized Intelligent Excavator (LUCIE) excavator [2]. There were pressure sensors and displacement sensors mounted on the cylinders to record pressure and stroke data which give feedback.…”

Section: Introductionmentioning

confidence: 99%

Research on Trajectory Planning and Autodig of Hydraulic Excavator

Zhang

Wang

Liu

et al. 2017

Mathematical Problems in Engineering

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As the advances in computer control technology keep emerging, robotic hydraulic excavator becomes imperative. It can improve excavation accuracy and greatly reduce the operator's labor intensity. The 12-ton backhoe bucket excavator has been utilized in this research work where this type of excavator is commonly used in engineering work. The kinematics model of operation device (boom, arm, bucket, and swing) in excavator is established in both Denavit-Hartenberg coordinates for easy programming and geometric space for avoiding blind spot. The control approach is based on trajectory tracing method with displacements and velocities feedbacks. The trajectory planning and autodig program is written by Visual C++. By setting the bucket teeth's trajectory, the program can automatically plan the velocity and acceleration of each hydraulic cylinder and motor. The results are displayed through a 3D entity simulation environment which can present real-time movements of excavator kinematics. Object-Oriented Graphics Rendering Engine and skeletal animation are used to give accurate parametric control and feedback. The simulation result shows that a stable linear autodig can be achieved. The errors between trajectory planning command and simulation model are analyzed.

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Section: Introductionmentioning

confidence: 99%

Research on Trajectory Planning and Autodig of Hydraulic Excavator

Zhang

Wang

Liu

et al. 2017

Mathematical Problems in Engineering

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“…Here, and are appropriately defined polynomials in the backward shift operator . where, F, g, d and h are defined by [3][4][5][6]. The n+m dimensional non-minimal state vector k , consists of the present and past sampled values of the input and output variables, i.e.,…”

Section: The Excavatormentioning

confidence: 99%

“…Over the last few years, such NMSS/PIP control systems have been successfully employed in a range of practical examples, including piling rig positioning [6] and LUCIE [3]. However, in the latter case, the nonlinear joint dynamics can sometimes yield an oscillatory response for bucket position.…”

Section: Introductionmentioning

confidence: 99%

“…In particular, the Lancaster University Computerized Intelligent Excavator (LUCIE) is based on a commercial manual hydraulic excavator ( Fig. 1), but with an on-board computer system in place of a driver to control the hydraulics and therefore the machine [1][2][3]. The objective is to develop an intelligent excavator that can autonomously dig a trench in virgin ground without human intervention.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Proportional-Integral-Plus (PIP) Gain Scheduling Control of an Intelligent Excavator

Gu¹,

Taylor²,

Seward³

2004

Proceedings of the 21st International Symposium on Automation and Robotics in Construction

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This paper considers the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University Computerised and Intelligent Excavator (LUCIE). The excavator is being developed to autonomously dig trenches without human intervention. Here, a gain scheduling design, based on Proportional-Integral-Plus (PIP) control methods, is utilised to regulate the highly nonlinear joint dynamics. Simulation and initial field tests both demonstrate the feasibility of the proposed technique, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner.

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“…An Autonomous excavator LUCIE was developed in Lanchaster University [1], [2]. An Autonomous truck loading excavator was developed in Carnegie Mellon University [3], scanners attached to the excavator recognizes surrounding environment and can locate the truck for loading procedure, Korean research consortium is developing automated excavation system [4] where surrounding environment can be recognized.…”

Section: Introductionmentioning

confidence: 99%

Suitability of a Three-Axis Inclinometer to the Automated Blade Control System of Excavator

Immonen¹,

Heikkilä²,

Makkonen³

2015

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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-Partly automated blade control of excavator has been studied. Main focus of the study were to find means to control one of the excavator's work cylinders automatically while machine operator controls the rest of non-automated work cylinders.This article concentrates on the suitability of a certain inclinometer sensor for partly automated blade control of excavator. Test device was built where inclinometers output data controlled hydraulic cylinder and the statical and dynamical properties of the cylinder and the controlling sensor were studied. In statical tests the inclinometer was attached to the milling tools distributing board along with the reference sensor. The positioning accuracy and the positioning repeatability were studied with the statical tests. In dynamical tests the inclinometer was attached to the pendulum and the dynamical properties of the inclinometer were researched with the pendulum oscillation experiments. Test device contained angular potentiometer which purpose was to function as inclinometers reference sensor. The LVDT displacement transducer was attached to the side of the cylinder which functioned as cylinders integrated displacement sensors (VRVT) reference sensor. In dynamical tests the inclinometers and reference sensors data responses were measured with different pendulum rod lengths and attachment setups. Centripetal accelerations and angular frequencies were calculated from the measured data and their effects for angular error are introduced.Results indicate that cylinders positioning accuracy was ± 1.5 millimetres and the inclinometers angle accuracy was ± 0.3 angle of degrees with delay of 600 ms. Accuracies are sufficient but the delay is too long for partly automated blade control.

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Proportional‐Integral‐Plus Control of an Intelligent Excavator

Cited by 40 publications

References 13 publications

Research on Trajectory Planning and Autodig of Hydraulic Excavator

Research on Trajectory Planning and Autodig of Hydraulic Excavator

Proportional-Integral-Plus (PIP) Gain Scheduling Control of an Intelligent Excavator

Suitability of a Three-Axis Inclinometer to the Automated Blade Control System of Excavator

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