液压挖掘机运动学问题及可控性与可观性分析

本文以哈尔滨工业大学工程机械实验室液压挖掘机样机为模型，阐述了液压挖掘机实现自动控制的方法；提出了运动学正问题、逆问题及其解法；针对样机模型的液压控制系统数学模型，从现代控制理论的角度，对其可控性和可观性进行分析，并进行了仿真。

Analysis of kinematics, controllability and obervability of hydraulic excavator

Using the hydraulic excavator as a model in construction machinery Laboratory in Harbin Institute of Technology, This paper describes the way to control the excavator automatically, presents positive and reverse questions of kinematics and gives its solution method. Based on the mathematic model of the control system and according to modern cybernetic theory, this paper analyses controllability and observability of the control system. Then it emulates the system.