Semi-automatic control system for hydraulic shovel

被引：21
|
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
收藏
页码：477 / 486
页数：10
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