Application of a MIMO-PID Controller for a Hydraulic Excavator Considering the Velocity of CoM

There are many machines that require human operation in industry, and high operational skills are required to operate these machines efficiently. However, the number of highly skilled workers is decreasing due to the recent trends of falling birthrate and population aging. This decline is particularly pronounced in the construction industry, while the demand for construction workers remains high owing to the increasing number of developed infrastructures. To reduce this mismatch between the supply and the demand, it is important to achieve high efficiency in tasks using hydraulic excavators, because these machines can greatly increase the productivity at construction sites. Accordingly, it is necessary to improve productivity even if unskilled operators use hydraulic excavators. This paper proposes a control system that achieves efficient motions based on the velocity of the center of mass (CoM) of the hydraulic excavator’s attachments, which reflects the characteristics of skilled workers’ operations. The motions of multiple attachments give rise to interference terms owing to the characteristics of the hydraulic system. A two-input two-output control system, in which the input consists of the lever input and the output is the CoM velocity is constructed. The fictitious reference iterative tuning (FRIT) method is used to calculate the controller parameters. The proposed method was verified by comparing the results of a simulated digging motion and an experiment with an actual hydraulic excavator operated by an unskilled operator.

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Development of a Pipe Positioning System Using a 5-DOF Suspension Mechanism

Volume 6: International Symposium on Motion and Vibration Control ◽

10.1115/detc99/movic-8407 ◽

1999 ◽

Author(s):

Masaki Hayatsu ◽

Shizuo Imaoka ◽

Yasutaka Tagawa

Keyword(s):

Control System ◽

Disturbance Observer ◽

Jacobian Matrix ◽

Nonlinear Function ◽

Center Of Gravity ◽

Positioning System ◽

Control Performance ◽

Skilled Workers ◽

Construction Sites ◽

Plant Construction

Abstract Decreasing the number of skilled workers and utilization of automated machines is becoming a general trend at plant construction sites. For this reason, an automated pipe positioning system using a 5-DOF suspension mechanism has been developed as an important automated tool for power plant construction sites. This device is expected to be used for not only assisting less skilled operators, but also making operations more efficient at plant construction sites. This paper mainly focuses on the control system design and the control performance of the proposed positioning system. The controller is designed based on the disturbance observer concept. The pipe positioning system has a 5-DOF suspension mechanism which consists of five stepping motors and chains. A relationship between the actuator space (chain length) and the task space (position and attitude of the pipe center of gravity) is expressed using the Jacobian matrix, and each element of this Jacobian matrix is generally a nonlinear function in space. Therefore the plant in this system is nonlinear. In this study, a disturbance observer concept is used to remove this nonlinearlity, then a conventional linear feedback control low is applied to the control system. The control performance is verified through experiments using a pipe with a diameter of 0.3m. In the experiments, trajectories of the pipe center of gravity with the Jacobian nonlinearly compensation is compared to the trajectories without Jacobian compensation case, and the effectiveness of this pipe positioning system is shown.

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The Process Rebuilding of Tire Liner Product Line System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.184-185.570 ◽

2012 ◽

Vol 184-185 ◽

pp. 570-573

Author(s):

Xiao Ling Liu ◽

Jin Ping Liu ◽

Zi Rui Pang

Keyword(s):

Control System ◽

High Efficiency ◽

Product Line ◽

Line System ◽

System A ◽

New Process ◽

Efficiency Control ◽

And Control ◽

Characteristic Process ◽

Process Method

According to characteristic process and control requirements of tire liner, the old process was rebuilded, combining with more precise and high efficiency control system, a new process method was designed. By practicality production, the system is stabilization, improving productivity and quality.

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Guided Route Creating Algorithm in Advanced-Surface Movement Guide and Control System

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.945-949.2741 ◽

2014 ◽

Vol 945-949 ◽

pp. 2741-2747

Author(s):

Rui Wu ◽

Wei An Jiang ◽

Jiang Long ◽

Ze Yi Shang

Keyword(s):

Control System ◽

Traffic Control ◽

High Efficiency ◽

Surface Movement ◽

Development Platform ◽

System A ◽

And Control

The research & development of intelligentialized and automated Advanced-Surface Movement Guide and Control System (A-SMGCS) is a new trend for guaranteeing the security and high efficiency of surface traffic control in the airport. Aimed at the guidance module in A-SMGCS, this paper studied the algorithm which was used for intelligently creating aircraft guided route on the ground. Using Visual C as the development platform, it introduced the design thought and the procedure of the program for realizing this algorithm. Then it has run the program and achieved the sequence of coordinated points of guided route. Comparing with the planning guided route, it analyzed the graphical results of the program. The simulation proves that the original guided route in the plan could be accurately created by this program. It also shows that this algorithm could provide some thoughts for development of A-SMGCS.

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Design of New-Style Book Trolley Based on Electric Drive for Library

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.620.478 ◽

2014 ◽

Vol 620 ◽

pp. 478-483

Author(s):

Zhi Liu ◽

Tian Feng Zhao ◽

Jian Bo Cao ◽

Li Li Jin ◽

Jia Jun Chen ◽

...

Keyword(s):

Control System ◽

High Efficiency ◽

Automatic Transmission ◽

Response Speed ◽

System A ◽

Control Precision ◽

Electric Control ◽

Support Frame ◽

Library Book ◽

And Control

The book transporter innovation to improve the efficiency of the modern library book classification is an important aspect. In this essay, Based on the research on the electric control system, a DC motor as a metal belt stepless automatic transmission was adopt to greatly reduce the number of parts the system and improve overall efficiency, response speed and control precision ratio, thus library books for transportation vehicles designed control system, enabling the driver, speed and other functions. Software such as the Solidworks was applied for designing body shape, includes a handle, a frame, wheels, support frame, a 'W'-shaped support frame was proposed, it can be installed to increase the capacity of the trolley, a pedal was added at the bottom of the trolley, the user can stand on it to save effort. The electric trolley placed the book has simple structure, easy to use, saving manpower, high efficiency, and has good practical value.

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IMPROVEMENT OF THE HYDRAULIC EXCAVATOR BUCKET DESIGN

The Russian Automobile and Highway Industry Journal ◽

10.26518/2071-7296-2019-3-202-213 ◽

2019 ◽

Vol 16 (3) ◽

pp. 202-213 ◽

Cited By ~ 1

Author(s):

G. G. Buriy ◽

V. S. Shherbakov ◽

S. B. Skobelev ◽

V. F. Kovalevskiy

Keyword(s):

Cost Reduction ◽

Production Costs ◽

Hydraulic Excavator ◽

Engineering Structures ◽

Excavator Bucket ◽

Productivity Increase ◽

Hydraulic Excavators ◽

Reducing Costs ◽

Rational Operation ◽

Resistance Forces

Introduction.Construction of engineering structures is impossible without building and road machines. The large volume of financing is allocated for such machines’ purchase. The main ways of reducing costs of the equipment consist in more rational operation of the equipment and also in decrease of equipment’s cost by constructive changes. The paper demonstrates the new design of the single-bucket hydraulic excavator with smaller cost.Materials and methods.The main ways of cost reduction for construction machines are more rational operation and depreciation of a design with the required characteristics’ maintaining. The paper describes constructive changes of the working equipment of the single-bucket hydraulic excavator, which allow decreasing the production costs.Results.The authors describe the new bucket design of the single-bucket hydraulic excavator. Moreover, the authors carry out the analysis of the existing buckets’ design. The paper also illustrates the functioning on bucket forces while digging process. The authors describe the solutions of the problem for productivity increase of the single-bucket in hydraulic excavators. In addition, the authors make the scheme of the bucket loading while digging process. Such scheme helps to reduce resistance forces of digging.Discussion and conclusions.As a result, the paper presents the design of the working equipment of the hydraulic excavator’s single-bucket, which allows reducing resistance forces of digging. Such results would help to establish buckets of bigger capacity and would lead to the productivity increase.

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