An electro-hydraulic control system is designed and implemented for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator （LUCIE）. The excavator is being developed to autonomou...An electro-hydraulic control system is designed and implemented for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator （LUCIE）. The excavator is being developed to autonomously dig trenches without human intervention. Since the behavior of the excavator arm is dominated by the nonlinear dynamics of the hydraulic actuators and by the large and unpredictable external disturbances when digging, it is difficult to provide adequate accurate, quick and smooth movement under traditional control methodology, e.g., PI/PID, which is comparable with that of an average human operator. The data-based dynamic models are developed utilizing the simplified refined instrumental variable （SRIV） identification algorithm to precisely describe the nonlinear dynamical behaviour of the electro-hydraulic actuation system. Based on data-based model and proportional-integral-plus （PIP） methodology, which is a non-minimal state space method of control system design based on the true digital control （TDC） system design philosophy, a novel control system is introduced to drive the excavator arm accurately, quickly and smoothly along the desired path. The performance of simulation and field tests which drive the bucket along straight lines both demonstrate the feasibility and validity of the proposed control scheme.展开更多
Research on intelligent and robotic excavator has become a focus both at home and abroad, and this type of excavator becomes more and more important in application. In this paper, we developed a control system which c...Research on intelligent and robotic excavator has become a focus both at home and abroad, and this type of excavator becomes more and more important in application. In this paper, we developed a control system which can make the intelligent robotic excavator perform excavating operation autonomously. It can recognize the excavating targets by itself, program the operation automatically based on the original parameter, and finish all the tasks. Experimental results indicate the validity in real-time performance and precision of the control system. The intelligent robotic excavator can remarkably ease the labor intensity and enhance the working efficiency.展开更多
基金supported by the Lancaster University (UK)SooChow University, China+2 种基金the UK Engineering and Physical Sciences Research CouncilUniversities’ Natural Science Research Council of Jiangsu Universities, China(Grant No. 08KJB510021)Scientific Research Foundation for the Returned Overseas Chinese Scholars, Ministry of Education of China
文摘An electro-hydraulic control system is designed and implemented for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator （LUCIE）. The excavator is being developed to autonomously dig trenches without human intervention. Since the behavior of the excavator arm is dominated by the nonlinear dynamics of the hydraulic actuators and by the large and unpredictable external disturbances when digging, it is difficult to provide adequate accurate, quick and smooth movement under traditional control methodology, e.g., PI/PID, which is comparable with that of an average human operator. The data-based dynamic models are developed utilizing the simplified refined instrumental variable （SRIV） identification algorithm to precisely describe the nonlinear dynamical behaviour of the electro-hydraulic actuation system. Based on data-based model and proportional-integral-plus （PIP） methodology, which is a non-minimal state space method of control system design based on the true digital control （TDC） system design philosophy, a novel control system is introduced to drive the excavator arm accurately, quickly and smoothly along the desired path. The performance of simulation and field tests which drive the bucket along straight lines both demonstrate the feasibility and validity of the proposed control scheme.
文摘Research on intelligent and robotic excavator has become a focus both at home and abroad, and this type of excavator becomes more and more important in application. In this paper, we developed a control system which can make the intelligent robotic excavator perform excavating operation autonomously. It can recognize the excavating targets by itself, program the operation automatically based on the original parameter, and finish all the tasks. Experimental results indicate the validity in real-time performance and precision of the control system. The intelligent robotic excavator can remarkably ease the labor intensity and enhance the working efficiency.
