Abstract
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.
Highlights
The current level of development in constructional engineering imposes stricter requirements for the operation of an excavator
When equipping the excavator drives with closed automatic control systems, the restrictions on the number of simultaneously controlled coordinates, the minimum speeds of the support systems and the positioning accuracy of the ladle are removed
As a multi-dimensional control object with q q1 q2 q3 q4 T, vector as its output coordinates, the elements of which are the angular coordinates for the position of the rotary platform (q1), boom (q2), arm (q3) and ladle (q4), and the controlling activity vector U U1 U2 U3 U4 T includes the input actions U1÷U4 for the actuators of the corresponding hydraulic drive system, show [3, 4], that the dynamics of the object under reasonable assumptions and known limitations [3] can be presented by a linearized model and described by a matrix equation:
Summary
The current level of development in constructional engineering imposes stricter requirements for the operation of an excavator. This implies, first, the need to increase the productivity and accuracy of excavation work (pit excavation, trench digging, etc.), where the excavator, while using modern control devices for positioning in space, primarily laser and satellite navigation systems [1,2], can operate in the mode of an industrial robot. When equipping the excavator drives with closed automatic control systems, the restrictions on the number of simultaneously controlled coordinates, the minimum speeds of the support systems and the positioning accuracy of the ladle are removed. The technological capabilities of the excavator are significantly expanded
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