Swing Trajectory Control for Large Excavators

Denman, Andrew; McĂree, P. R.; Kearney, Michael; Reid, A. W.; Austin, Kevin J.

doi:10.1007/978-3-642-13408-1_36

Cited by 5 publications

(4 citation statements)

References 3 publications

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“…Since the nominal swing system dynamics represented by (15) has stable zeros, the system is minimum phase and the internal dynamics is stable.…”

Section: Dynamic Model Of the Swing Systemmentioning

confidence: 99%

“…Conventional hydraulic excavators have fewer vibration problems during swing operation because the hydraulic swing motor has a large damping capacity and suppresses the vibration. Several studies have been conducted to improve the performance of the swing control of the conventional hydraulic excavator [13][14][15]. Electric motors can develop severe negative damping during the transient state due to the electromagnetic characteristics between the rotor and the stator [16].…”

Section: Introductionmentioning

confidence: 99%

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A control method to suppress the swing vibration of a hybrid excavator using sliding mode approach

Jin

Park

Lee

2011

Proceedings of the Institution of Mechanical Engineers, Part C:

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This article presents a control method for suppressing the swing vibration of a hybrid excavator. For control design, dynamic models of typical swing motions of the hybrid excavator are derived using a system identification technique. Because the system states of the obtained models are not directly measurable, a sliding mode observer is designed to estimate the system states. A sliding mode control is designed to provide robust tracking performance against the parameter variations and uncertain non-linearities caused by changes in the working conditions. A complicated mathematical model of the hybrid excavator which captures detailed mechanical, electrical, and hydraulic characteristics is developed for system analysis and simulation. The feasibility and effectiveness of the proposed control method are verified by simulations and actual tests in comparison with a conventional proportional and integral controller.

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“…Since the nominal swing system dynamics represented by (15) has stable zeros, the system is minimum phase and the internal dynamics is stable.…”

Section: Dynamic Model Of the Swing Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A control method to suppress the swing vibration of a hybrid excavator using sliding mode approach

Jin

Park

Lee

2011

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…In 1996, Sepehri studied the gear backlash and stick-slip friction in hydraulic swing motion [10]. Some other researchers presented several closed-loop control algorithms to improve the swing motion performance [11][12][13][14]. However, in practical applications, open-loop control algorithm is more applicable than closed-loop control algorithm due to several difficulties, e.g., time-varying swing inertia, unknown payload and parametric uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Development of a dual displacement controlled circuit for hydraulic shovel swing motion

Huang

Zhang

Quan

et al. 2015

Automation in Construction

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“…An independent system is proposed to verify that pose estimates are sufficiently accurate for the safe operation of autonomous sub-systems such as swing trajectory control [1] and collision avoidance [2]. The pose verification problem in this context is defined as the task of using independent measurements to determine if a given pose estimate is within an acceptable tolerance of the actual pose.…”

Section: Introductionmentioning

confidence: 99%

Pose verification for autonomous equipment interaction in surface mining

Green

Ridley

McĂree

2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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It is essential that an automated excavator has accurate knowledge of the position and orientation of a truck that it is to load. The integrity of a given truck pose estimate can be improved by providing the excavator with the capability to verify the accuracy of that estimate using an independent system. A method is presented for verifying the accuracy of estimated truck poses using excavator-mounted range sensors. The method is formulated as a statistical hypothesis test, inspired by Bayesian techniques, and is made computationally feasible with density estimation. Simulation and experimental verification testing shows discrimination between the null and alternative hypotheses, given sufficient measurements of key geometric features of the truck.

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Swing Trajectory Control for Large Excavators

Cited by 5 publications

References 3 publications

A control method to suppress the swing vibration of a hybrid excavator using sliding mode approach

A control method to suppress the swing vibration of a hybrid excavator using sliding mode approach

Development of a dual displacement controlled circuit for hydraulic shovel swing motion

Pose verification for autonomous equipment interaction in surface mining

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