Intelligent Control System for Technological Ground Shaping Process

Abstract

AbstractThe article considers the most important task for ground shaping process traction mode control is to use traction capacity in full by means of its end-effectors control. To keep traction mode at maximum or a given resistance value applied to end-effectors automatically for is difficult due to a great number of stochastic factors affecting the edge tool. Earth-moving machine is taken as a mechatronic system. The study presents analytic dependences as the sub-processes where analytic modelling based on earth-moving machine parameters correlation knowledge is applicable. Models of the sub-processes are included into the general structure of earth-moving machine workflow simulation model. Simulation technique is demonstrated through model development of the earth-moving machine as a universal machine operating in modes of soil movement and subgrade surfacing. In developing the models, mathematical apparatus of the theory of random processes, transfer functions, table interpolation, numerical solution of algebraic equations and ordinary differential equations in the Cauchy form was used. A dynamic model of the drawing prism formation was developed describing the dependence of the volume of prism on the variable digging depth and variable earth-moving machine speed. A general structure of the model of earth-moving machine workflows due to the working process control objectives was developed.