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1、Semi-automaticcontrolsystemforhydraulicshovelAbstractAsemi-automaticcontrolsystemforahydraulicshovelhasbeendeveloped.Usingthissystem,unskilledoperatorscanoperateahydraulicshoveleasilyandaccurately.Amathematicalcontrolmodelofahydraulicshovelwithacontrollerwasconstructedandacon
2、trolalgorithmwasdevelopedbysimulation.Thisalgorithmwasappliedtoahydraulicshovelanditseffectivenesswasevaluated.Highcontrolaccuracyandhigh-stabilityperformancewereachievedbyfeedbackplusfeedforwardcontrol,nonlinearcompensation,statefeedbackandgainschedulingaccordingtotheattitud
3、e.Keywords:Constructionmachinery;Hydraulicshovel;Feedforward;Statefeedback;Operation1.IntroductionAhydraulicshovelisaconstructionmachinerythatcanberegardedasalargearticulatedrobot.Diggingandloadingoperationsusingthismachinerequireahighlevelofskill,andcauseconsiderablefatiguee
4、veninskilledoperators.Ontheotherhand,operatorsgrowolder,andthenumberofskilledoperatorshasthusdecreased.Thesituationcallsforhydraulicshovels,whichcanbeoperatedeasilybyanypersonw1–5x.Thereasonswhyhydraulicshovelrequiresahighlevelofskillareasfollows.1.Morethantwoleversmustbeoper
5、atedsimultaneouslyandadjustedwellinsuchoperations.2.Thedirectionofleveroperationsisdifferentfromthatofashovel’sattachmentmovement.Forexample,inlevelcrowdingbyahydraulicshovel,wemustoperatethreelevers?arm,boom,bucket.simultaneouslytomovethetopofabucketalongalevelsurface?Fig.1.
6、.Inthiscase,theleveroperationindicatesthedirectionoftheactuator,butthisdirectiondiffersfromtheworkingdirection.Ifanoperatoruseonlyoneleverandotherfreedomsareoperatedautomatically,theoperationbecomesveryeasily.Wecallthissystemasemi-automaticcontrolsystem.Whenwedevelopthissemi-
7、automaticcontrolsystem,thesetwotechnicalproblemsmustbesolved.1.Wemustuseordinarycontrolvalvesforautomaticcontrol.2.Wemustcompensatedynamiccharacteristicsofahydraulicshoveltoimprovetheprecisionofcontrol.Fig.1.Levelcrowdingofanexcavatorandframemodelofanexcavator.Wehavedeveloped
8、acontrolalgorithmtosolvethesetechnicalproblemsandconfirmtheeffectoft
