A straight-line motion tracking control of hydraulic excavator system

Goal

The resulting control law has been applied to straight-line motions of a 13 ton hydraulic excavator with a bucket speed of 0.5 m/s, a speed level at which skilful operators work.

Challenge

Straight line motion requires broad ranges of joint motions, it tends to induce various nonlinearities in hydraulic actuators, parameter variations in mechanical structures, and disturbances due to the contact with the ground.

divide the excavator into two parts: manipulator and actuator part.

For the manipulation part we should be able to control nolinear forces of inertia and gravitation over broad ranges of joint variables.

For the actuator part, nonlinearities due to valve characteristics, ̄flow coupling, deadband, and time-lag.

Contribution

TDC