Modeling and control of hydraulic excavator’s arm |
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Authors: | He Qing-hua Zhang Da-qing Hao Peng and Zhang Hai-tao |
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Affiliation: | (1) School of Mechanical and Electrical Engineering, Central South University, 410083 Changsha, China |
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Abstract: | In order to find a feasible way to control excavator’s arm and realize autonomous excavation, the dynamic model for the boom
of excavator’s arm which was regarded as a planar manipulator with three degrees of freedom was constructed with Lagrange
equation. The excavator was retrofitted with electrohydraulic proportional valves, associated sensors (three inclinometers)
and a computer control system (the motion controller of EPEC). The full nonlinear mathematic model of electrohydraulic proportional
system was achieved. A discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient
of the valve was presented to deal with the nonlinearity of the whole system, the error was dealt with by robust feedback
and an adaptive robust controller was designed. The experiment results of the boom motion control show that, using the controller,
good performance for tracking can be achieved, and the peak tracking error of boom angles is less than 4°.
Foundation item: Project(2003AA430200) supported by the National Hi-Tech Research and Development Program(863) of China |
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Keywords: | adaptive robust control autonomous excavation dynamic model hydraulic excavator motion control |
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