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1、Hydraulicexcavators＇semi-automaticcontrolledsystemAbstractAhydraulicexcavatorsusedinthesemi-automaticcontrolledsystemisdeveloped.Becauseofthissystem,evenunskilledoperatorscaneasilyandaccuratelycontrolledhydraulicexcavators.Constructedwiththehydraulicexcavatorcontrollerofma
2、thematicalprecisioncontrolmodelthroughsimulationtodevelopacontrolalgorithm,whichisusedinhydraulicexcavators,Wecanestimateitsefficiency.Inaccordancewiththelaw,throughpositivefeedbackandfeedforwardcontrol,nonlinearcompensation.statefeedbackandgainscheduling,andothermeanstoob
3、tainhigheraccuracyandstabilityproperties.Keywords:constructionmachinery;Hydraulicexcavators;feedforward;Statefeedback;Operation1Introductionhydraulicexcavators,knownasthelargearticulatedrobot,aconstructionmachinery.Usingthismachineexcavationandloadingoperations,requiredriv
4、erstohavehighoperationalskills,Evenskilleddriverwouldhaveconsiderablefatigue.Theotherhand,withtheoperator'sageincreased,thenumberofskilleddriversthuswillbereduced.Developedawaytoletanyonewillbeabletoeasilymanipulatethehydraulicexcavatorisverynecessary.Hydraulicexcavatorsas
5、kedforahigheroperationalskills,forthefollowingreasons.1.Hydraulicexcavatoroperation,atleasttwojoystickoperationandmustbecoordinated.2.JoystickmoveschargedwiththedirectionoftheJibcomponentsofthecampaignindifferentdirections.Forexample,thehydraulicexcavatorbackhoelevelaction
6、,wemustalsoplaythreejoystick(boom,thebuckethandles,Bucket)toenablethebucketalongthetopofthehorizontalmovement.Inthiscase,joystickoperationshowsthecomponentsoftheimplementationofthedirectionofmovement,butthisdirectionandworkindifferentdirections.Ifadrivertooperateaslongasth
7、econtrolrod,barandotherfreearmautomaticservoaction,operationbecomesverysimple.Thisistheso-calledsemi-automaticcontrolsystem.Developmentofasemi-automaticcontrolsystem,wemustaddressthefollowingtwotechnicalproblems.1.Automaticcontrolsystemsmustusecommoncontrolvalve.2.Hydrauli
8、cexcavatorsmustcompensateitsdynamiccharacteristicstoimproveitsaccuracy.2Hydraulicexcavato
