Semi-automatic control system for hydraulic shovel

被引：22

作者：

Araya, H ^{[1
]}

Kagoshima, M ^{[1
]}

机构：

[1] Kobe Steel Ltd, Mech Engn Res Lab, Nishi Ku, Kobe, Hyogo 6512271, Japan

来源：

AUTOMATION IN CONSTRUCTION | 2001年 / 10卷 / 04期

关键词：

construction machinery; hydraulic shovel; feedforward; state feedback; operation;

D O I：

10.1016/S0926-5805(00)00083-2

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

A semi-automatic control system for a hydraulic shovel has been developed. Using this system, unskilled operators can operate 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. (C) 2001 Elsevier Science B.V. All rights reserved.

引用

页码：477 / 486

页数：10