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1、Semi-automaticcontrolsystemforhydraulicshovelHirokazuAraya〉，MasayukiKagoshimaMechanicalEngineeringResearchLaboratoiy,KobeSleeLLie!.,Nishi-kicKobeHyogo6512271,JapanAccepted27June2000AbstractAsemi-automaticcontrolsystemforahydraulicshovelhasbeendeveloped・Usingthissystem,unski
2、lledoperatorscanoperateahydraulicshoveleasilyandaccurate!y.Amathematicalcontrolmodelofahydraulicshovelwithacontrollerwasconstructedandacontrolalgorithmwasdevelopedbysimulation.Thisalgorithmwasappliedtoahydraulicshovelanditseffectivenesswasevaluated・Highcontrolaccuracyandhig
3、h-stabilityperformancewereachievedbyfeedbackplusfeedforwardcontrol,nonlinearcompensation,statefeedbackandgainschedulingaccordingtotheattitude・©2001ElsevierScicnccB.V.Allrightsreserved・Keywords:Constructionmachinery;Hydraulicshovel;Feedforward;Statefeedback:Operation1.Introd
4、uctionAhydraulicshovelisaconstructionmachinerythatcanberegardedasalargearticulatedrobot.Diggingandloadingoperationsusingthismachinerequireahighlevelofskill,andcauseconsiderablefatigueeveninskilledoperators・Ontheotherhand,operatorsgrowolder,andthenumberofskilledoperatorshast
5、husdecreased・Thesituationcallsforhydraulicshovels,whichcanbeoperatedeasilybyanyperson[1-5].Thereasonswhyhydraulicshovelrequiresahighlevelofskillarcasfollows.LMorethantwoleversmustbeoperatedsimultaneouslyandadjustedwellinsuchoperations・)2.Thedirectionofleveroperationsisdiffe
6、rentfromthatofashovefsattachmentmovement.Forexample,inlevelcrowdingbyahydraulicshovel,wemustoperatethreelevers(arm,boom,bucket)simultaneouslytomovethetopofabucketalongalevelsurface(Fig.1)Inthiscase,theleveroperationindicatesthedirectionoftheactuator,butthisdirectiondiffersf
7、romtheworkingdirection.Ifanoperatoruseonlyoneleverandotherfreedomsareoperatedautomatically,theoperationbecomesveryeasily.Wecallthissystemasemi-automaticcontrolsystem.Whenwedevelopthissemi-automaticcontrolsystem,thesetwotechnicalproblemsmustbesolved・1・Wemustuseordinarycontro
8、lvalvesforautomaticcontrol.2.Wemustcompensatedynamiccharacteristicsofahydraulicsho
