To control excavator’s arm and realize autonomous excavation, firstly, full kinematic and dynamic models of the excavator arm, regarded as a planar manipulator with three degrees of freedom, were derived. Secondly, experiment excavator was retrofitted with electrohydraulic proportional valves, associated sensors, and a computer control system; then, the full nonlinear math model of electrohydraulic proportional system was achieved. Thirdly, this paper presents a discontinuous projection based on an adaptive robust controller to approximate the nonlinear gain coefficient of the valve and the nonlinear of the whole system, the error is deal with robust feedback and an adaptive robust controller was designed. Finally, the experiment of the boom motion control is presented to illustrate the feasibility. These efforts had resulted in new control design methodologies that were applicable to several hydraulic proportional systems.
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ASME 2005 International Mechanical Engineering Congress and Exposition
November 5–11, 2005
Orlando, Florida, USA
Conference Sponsors:
- Fluid Power Systems and Technology Division
ISBN:
0-7918-4220-7
PROCEEDINGS PAPER
Model and Control for Hydraulic Excavator’s Arm
Xinhai Zhang
Xinhai Zhang
Central South University
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Daqing Zhang
Central South University
Qinghua He
Central South University
Peng Hao
Central South University
Xinhai Zhang
Central South University
Paper No:
IMECE2005-80779, pp. 165-170; 6 pages
Published Online:
February 5, 2008
Citation
Zhang, D, He, Q, Hao, P, & Zhang, X. "Model and Control for Hydraulic Excavator’s Arm." Proceedings of the ASME 2005 International Mechanical Engineering Congress and Exposition. Fluid Power Systems and Technology. Orlando, Florida, USA. November 5–11, 2005. pp. 165-170. ASME. https://doi.org/10.1115/IMECE2005-80779
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