自然科学版 英文版
自然科学版 英文版
自然科学版 英文版

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中南大学学报(英文版)

Journal of Central South University

Vol. 13    No. 4    August 2006

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Modeling and control of hydraulic excavator’s arm
HE Qing-hua(何清华), ZHANG Da-qing(张大庆), HAO Peng(郝 鹏),
ZHANG Hai-tao(张海涛)

School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China

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°.

 

Key words: adaptive robust control; autonomous excavation; dynamic model; hydraulic excavator; motion control

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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