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1、Semi-automaticcontrolsystemforhydraulicshovelAbstractAsemi-automaticcontrolsystemforahydraulicshovelhasbeendeveloped.Usingthissystem,unskilledoperatorscanoperateahydraulicshoveleasilyandaccurately.Amathematicalcontrolmodelofahydraulicshovelwithacontrollerwasconstructedandacontrolalgorithmwasd
2、evelopedbysimulation.Thisalgorithmwasappliedtoahydraulicshovelanditseffectivenesswasevaluated.Highcontrolaccuracyandhigh-stabilityperformancewereachievedbyfeedbackplusfeedforwardcontrol,nonlinearcompensation,statefeedbackandgainschedulingaccordingtotheattitude.Keywords:Constructionmachinery;H
3、ydraulicshovel;Feedforward;Statefeedback;Operation1.IntroductionAhydraulicshovelisaconstructionmachinerythatcanberegardedasalargearticulatedrobot.Diggingandloadingoperationsusingthismachinerequireahighlevelofskill,andcauseconsiderablefatigueeveninskilledoperators.Ontheotherhand,operatorsgrowo
4、lder,andthenumberofskilledoperatorshasthusdecreased.Thesituationcallsforhydraulicshovels,whichcanbeoperatedeasilybyanypersonw1–5x.Thereasonswhyhydraulicshovelrequiresahighlevelofskillareasfollows.1.Morethantwoleversmustbeoperatedsimultaneouslyandadjustedwellinsuchoperations.2.Thedirectionofle
5、veroperationsisdifferentfromthatofashovel’sattachmentmovement.Forexample,inlevelcrowdingbyahydraulicshovel,wemustoperatethreelevers?arm,boom,bucket.simultaneouslytomovethetopofabucketalongalevelsurface?Fig.1..Inthiscase,theleveroperationindicatesthedirectionoftheactuator,butthisdirectiondiffe
6、rsfromtheworkingdirection.Ifanoperatoruseonlyoneleverandotherfreedomsareoperatedautomatically,theoperationbecomesveryeasily.Wecallthissystemasemi-automaticcontrolsystem.Whenwedevelopthissemi-automaticcontrolsystem,thesetwotechnicalproblemsmustbesolved.1.Wemustuseordinarycontrolvalvesforautoma
7、ticcontrol.2.Wemustcompensatedynamiccharacteristicsofahydraulicshoveltoimprovetheprecisionofcontrol.Fig.1.Levelcrowdingofanexcavatorandframemodelofanexcavator.Wehavedevelopedacontrolalgorithmtosolvethesetechnicalproblemsandconfirmtheeffectoft
