Automatization of Excavator and Study of its Autocontrol

Author

Jun, Yan ; Bo, Li ; Qunzhang, Tu ; Gang, Guo ; Yonghua, Zeng

Author_Institution

Eng. Inst. of Eng. Corps, PLAUniv. of Sci. & Technol., Nanjing, China

Volume

1

fYear

2011

fDate

6-7 Jan. 2011

Firstpage

604

Lastpage

609

Abstract

Aiming at the hot topic of automatic control of excavator, a hydraulic excavator is retrofitted in this paper. Electro-hydraulic proportional valves are installed. The feedback control and intelligent monitoring system is designed based on CAN bus. The motion control model of excavator´s working unit is deduced. According to the characteristics such as nonlinearity, parameter uncertainties and external disturbance of electro-hydraulic control system, this paper presents a fuzzy controller to deal with the motion control system. The simulation results demonstrate that fuzzy controller is good for excavator´s motion control, this provides a frame of reference for homologous works.

Keywords

control system synthesis; electrohydraulic control equipment; excavators; feedback; fuzzy control; motion control; valves; CAN bus; automatic control; electrohydraulic control system; electrohydraulic proportional valves; excavator automatization; feedback control; fuzzy controller; hydraulic excavator; intelligent monitoring system; motion control model; parameter uncertainties; Artificial intelligence; Mathematical model; Monitoring; Motion control; Transfer functions; Valves; automatization; electro-hydraulic proportional valve; fuzzy controller; hydraulic excavator;

fLanguage

English

Publisher

ieee

Conference_Titel

Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on

Conference_Location

Shangshai

Print_ISBN

978-1-4244-9010-3

Type

conf

DOI

10.1109/ICMTMA.2011.154

Filename

5720857