液压挖掘机的半自动控制系统.docVIP

Semi-automatic control system for hydraulic shovel Abstract ：A semi-automatic control system for a hydraulic shovel has been developed. Using this system, unskilled operators canoperate a hydraulic shovel easily and accurately. A mathematical control model of a hydraulic shovel with a controller was constructed and a control algorithm was developed by simulation. This algorithm was applied to a hydraulic shovel and its effectiveness was evaluated. High control accuracy and high-stability performance were achieved by feedback plus feedforward control, nonlinear compensation, state feedback and gain scheduling according to the attitude. q2001 Elsevier Science B.V. All rights reserved. Keywords: Construction machinery; Hydraulic shovel; Feedforward; State feedback; Operation Introduction A hydraulic shovel is construction machinery that can be regarded as a large articulated robot. Digging and loading operations using this machine require a high level of skill, and cause considerable fatigue even in skilled operators. On the other hand, operators grow older, and the number of skilled operators has thus decreased. The situation calls for hydraulic shovels, which can be operated easily by any person 1–5. The reasons why hydraulic shovel requires a high level of skill are as follows. . 1. More than two levers must be operated simultaneously and adjusted well in such operations. The direction of lever operations is different from that of a shovel’s attachment movement. For example, in level crowding by a hydraulic shovel, we must operate three levers （arm, boom, bucket ）simultaneously to move the top of a bucket along a level surface(Fig. 1 .) In this case, the lever operation indicates the direction of the actuator, but this direction differs from the working direction. If an operator use only one lever and other freedoms are operated automatically, the operation becomes very easily. We call this system a semi-automatic control system. When we develop this semi-automatic