Trajectory Control of the Boom and Arm System of Hydraulic Excavators.

Yokota, Shinichi; Sasao, Masanori; Ichiryu, Ken

doi:10.1299/kikaic.62.161

Cited by 14 publications

(5 citation statements)

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“…The whole transfer matrix can be obtained through multiplicating matrix of each section uniform grating. The matrix of uniform fiber Bragg grating was shown in Equation (1).…”

Section: Design Of Comb Filtermentioning

confidence: 99%

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The Application of EMD Denoising in Sampled Grating Comb Filter Design

Zhu¹,

Yu²,

Li³

et al. 2017

dtetr

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“…The whole transfer matrix can be obtained through multiplicating matrix of each section uniform grating. The matrix of uniform fiber Bragg grating was shown in Equation (1).…”

Section: Design Of Comb Filtermentioning

confidence: 99%

“…As sampled fiber Bragg grating has multichannel filtering, fine structure, flexibility, good compatibility, low insertion loss and extremely good wavelength selectivity, it was attended currently [1][2][3]. Now it has become novel passive device for realizing optical modulation.…”

Section: Introductionmentioning

confidence: 99%

The Application of EMD Denoising in Sampled Grating Comb Filter Design

Zhu¹,

Yu²,

Li³

et al. 2017

dtetr

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“…In some cases, a miss operation causes a trouble or an accident. To reduce operator workload and improve safety and economic, recently automatic digging and remote control for hydraulic excavators are being studied [1] [2]. Nowadays development of hydraulic excavator places much importance to improvement of environmental performance and energy efficiency.…”

Section: Introductionmentioning

confidence: 99%

Investigation of Efficiency Improvement in Digging Operation for Hydraulic Excavators

Yoshida¹,

Koizumi²,

Tsujiuchi³

et al. 2013

JSDD

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Operations of hydraulic excavators require high operation skill and operators have possibilities to work in unsafe environment. To solve these problems, automatic digging control is often studied, but there are few studies focused on improvement of efficiency. A high efficiency digging algorithm for a hydraulic excavator has not been established because relationship between digging motion and digging performance is very complex. A simulation model which is able to consider interaction between soil and machine would help to establish a digging algorithm for improving energetic efficiency. In this paper, an example for improvement of digging efficiency is shown by our developed distinct element method (DEM) simulation. First, in order to improve the accuracy of the DEM simulation, the parameter identification test is carried out to identify damping ratio and friction coefficient between soil particles. Besides, accuracy of digging efficiency evaluation by the developed simulation is shown by a developed digging test device which can reproduces excavation by hydraulic excavator. Finally, digging simulations are conducted by our suggested automatic digging algorithm. Varying control parameters, the simulation estimates influences of control parameters. These simulation results show that the simulation is able to specified control parameters which improve digging efficiency. Our research evaluates effectiveness of model-based development for automatic digging which enhances efficiency.

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“…[l] analyzed the phenomenon of coupling in the hydraulic actuator, and proposed a feedforward scheme which compensates coupling and load variation by using simple valve model and measured pressure. Yokota et al [2] used disturbance observer and PI control, and applied it to a mini excavator. It appears, however, that owing to the aforementioned difficulty the research works above tend to be limited to either simulation studies, or experiments under relatively lower speed conditions.…”

Section: Introductionmentioning

confidence: 99%

An experimental study on Cartesian tracking control of automated excavator system using TDC-based robust control design

Lee

Chang

Kwon

1999

Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)

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The Cartesian control of automated excavators has been noted for its difficulty, especially due to severe nonlinearities in hydraulic actuators that can be hardly observed in electric motors. The nonlinearities tend to become even more severe as the size of an excavator increases and the speed of end-effector becomes faster, which conventional controls have been unable to handle adequately. In a conviction that modern robust controls can resolve this problem, we approached this problem: by adopting Time-delay control(TDC) as the baseline control, and by enhancing it with compensators on the basis of insights obtained from the plant dynamics. The resulting control law has been applied to straight-line motions of a 13 ton hydraulic excavator with the bucket(endeffector) speed of 0.5 m/sec, a speed level at which skillful operators work. The accuracy achieved was within 3 cm for surfaces with various inclinations and over broad ranges of joint motions, which is far better than that of an expert. These promising results not only justify our approach to this problem, but also convince us that we now have an effective means for the control of automated excavator systems. 0-7803-4990-6/99 $10.00 0 1999 AACC

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Trajectory Control of the Boom and Arm System of Hydraulic Excavators.

Cited by 14 publications

References 0 publications

The Application of EMD Denoising in Sampled Grating Comb Filter Design

The Application of EMD Denoising in Sampled Grating Comb Filter Design

Investigation of Efficiency Improvement in Digging Operation for Hydraulic Excavators

An experimental study on Cartesian tracking control of automated excavator system using TDC-based robust control design

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