Semi-automatic control system for hydraulic shovel

✍ Scribed by Hirokazu Araya; Masayuki Kagoshima

• Book ID: 104358620
• Publisher: Elsevier Science
• Year: 2001
• Tongue: English
• Weight: 201 KB
• Volume: 10
• Category: Article
• ISSN: 0926-5805
• DOI: 10.1016/s0926-5805(00)00083-2

✦ Synopsis

A semi-automatic control system for a hydraulic shovel has been developed. Using this system, unskilled operators can operate a hydraulic shovel easily and accurately. A mathematical control model of a hydraulic shovel with a controller was constructed and a control algorithm was developed by simulation. This algorithm was applied to a hydraulic shovel and its effectiveness was evaluated. High control accuracy and high-stability performance were achieved by feedback plus feedforward control, nonlinear compensation, state feedback and gain scheduling according to the attitude.