Synthesis of High-Precision Hydraulic Control Systems of an Excavator

Practical implementation of the program controlling the movement of the excavator's working tool (including the use of satellite navigation system) imposes stringent requirements on the dynamic and static accuracy of automatic control systems for the hydraulic excavator's operating mechanisms, in conditions of non-stationary parameters of these mechanisms as control objects. The authors describe the effective solution of this problem by implementing structural synthesis of each servo hydraulic drive as a multi-loop system with one measured coordinate (MLSOMC). The EO-4121 excavator with four hydraulic drives (rotary platform, boom, arm and ladle) was used as an example to demonstrate that the implementation of three circuits in the multi-loop system with one measured coordinate in each of these drives with typical PID-controllers allows to ensure the robustness of the ACS for known uncertainties, as well as the required rates of control quality in static and dynamic modes.