Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Jilin University(Engineering and Technology Edition)》 2006-06
Add to Favorite Get Latest Update

Robust trajectory tracking control of hydraulic excavator bucket

Zhang Da-qing,He Qing-hua,Hao Peng,Chen Qian-gen(College of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China)  
A 2-DOF dynamic model for the working device of a hydraulic excavator was built,and a state observer was designed according to the sliding mode control theory on this basis,a variable structure controller(VSC) with the sliding mode observer for the excavator working device was developed by means of the reversal procedure.The tests were performed on the modified excavator to compare the performance of the bucket tip to track the prescribed straight line under the control of the developed VSC with that of the conventional PID controller.The results showed that the errors for PID controller are more than 40 mm,but those for VSC are less than 30 mm.It shows that the proposed VSC is characterized by good dynamic performance for tracking the prescribed line,and robustness against the uncertainties in the system.
【Fund】: “863”国家高技术研究发展计划项目(2003AA430200)
【CateGory Index】: TU621
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
Chinese Journal Full-text Database 5 Hits
1 LIU Jie1,LIN Jian-feng2,MA Xiao-bo2,LIU Kuo2(1.School of Mechanical Engineering & Automation,Northeastern University,Shenyang 110004,China;2.Research Institute,Shenyang Machine Tool(Group) Co.,Ltd.,Shenyang 110142,China.);Research on the Fuzzy Robust Control of Robotic Excavator[J];Journal of Northeastern University(Natural Science);2010-09
2 Wang Tao Tao Wei(West Branch of Zhejiang University of Technology);Integrated Optimization of the Control Parameters of Hydraulic Excavator Based on Isight and AMEsim Software[J];Metal Mine;2008-12
3 LIU Kuo,LIU Jie,GUO Da-meng,YANG Ke-shi(School of Mechanical Engineering and Automatization,Northeastern University,Shenyang 110004,China);The Excavator's Sliding Mode Control Based on Disturbance Observer[J];Machinery & Electronics;2009-06
4 WANG Tao,TAO Wei(Department of Mechanical and Electrical Control Engineering,West Branch ofZhejiang University of Technology,Quzhou Zhejiang 324000,China);Motion Simulation and the Optimization of Control Parameters of Hydraulic Excavator Based on AMEsim Software[J];Machine Tool & Hydraulics;2009-07
5 ZHANG Jinping1 LIU Kuo2 LIN Jianfeng2 MA Xiaobo2 YU Wendong2 (1. School of Mechanical Engineering,Shenyang University of Chemical Technology,Shenyang 110142; 2. State Key Laboratory of High-grade NC Machine,Shenyang Machine Tool(Group) Co.,Ltd, Shenyang 110142);4-DOF Adaptive Fuzzy Sliding Mode Control of Excavator[J];Journal of Mechanical Engineering;2010-21
Chinese Journal Full-text Database 2 Hits
1 ZHANG Da-qing, HE Qing-hua, HAO Peng, GUO Yong (College of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China);Trajectory Tracking Control of Hydraulic Excavator Bucket[J];Journal of Jilin University of Technology(Natural Science Edition);2005-05
2 GU Haijun, ZHANG Tianping,CAO Yongzhong(College of Information Engineering, Yangzhou University, Yangzhou 225009, China );Observer Based Robust Tracking Control of Robot Manipulator[J];Control Engineering of China;2003-06
Chinese Journal Full-text Database 10 Hits
1 ZHOU Cheng-peng(Wuhan University, Wuhan 430072, China);Power System Stability Control Based On On-off Control of Active Loads[J];;2005-01
2 LIU Yu,YUAN Jian-ping,HOU Chao-huan(Institute of Acoustics,China Academy of Science,Beijing 100080,China);Research on the Guidance Law of Underwater Autoguide Weapon[J];Acta Armamentarii;2008-04
3 Zheng Feng Cheng Mian Gao Weibing(Dept. of Math, and Phys. );VARIABLE STRUCTURE CONTROL OF STOCHASTIC SYSTEMS[J];Journal of Beijing University of Aeronautics and Astronautics;1991-02
4 Er Lianjie Wang Zongxue(Dept. of Auto. Control);DISCRETE VARIABLE STRUCTURE SYSTEM WITH PSEUAO-SLIDING MODE[J];Journal of Beijing University of Aeronautics and Astronautics;1993-02
6 CHEN Ya-guang, ZHAO Shuang-yuan (Dept. of Autocontrol, Benxi College of Metallurgy, Benxi, Liaoning, 117022, China);An Application of Variable Structrure Control of Sliding Mode to the Speed Adjustment System PMSM[J];Journal of Benxi College of Metallurgy;2002-04
7 Zhang Deming Wu Guangqiang(Department of Automobile Tongji University Shanghai);The Use of Fuzzy-Slide Mode Control in Electronic Control Clutch of DCT[J];Drive System Technique;2008-04
8 ZHANG Nan, WANG Lin-ping, SHANGUAN Yin-li (North China System Engineering Institute, Beijing 100089, China);A bank-to-turn approach to missile based on variable structure control[J];Control Technology of Tactical Missile;2009-01
9 WEN Jian-gang, ZHANG Jun-chang, LEI Yong (No.203 Research Institute of China Ordnance Industries, Xian 710065, China);An electromichanical actuator used ultrasonic motor[J];Control Technology of Tactical Missile;2009-01
10 Shen Lin(Department of Electronic Engineering,Changzhou Teachers College of Technology, Changzhou, 213001)Wang Liqin(Changzhou Michinery School, Changzhou, 213001);The Application of Variable Structure Control to AC Regulated Power Supply[J];Journal of Changzhou Teachers College of Technology;1999-02
China Proceedings of conference Full-text Database 5 Hits
1 Zhang Jinggang, Zhang Yibo, Chen Zhimei(Taiyuan University of Science and Technology, Taiyuan 030024);Adaptive Model Following Variable Structure Control for Discrete-Time System[A];[C];2005
2 Guo Tianshi Dept. of Mech .Electri. Eng. Sichnau Institute of Light Ind .& Chcm.Tech. Zigong 643033;Tending Law of BilinearVariable Structure Control System for Adaptation of "State Deep Trap"[A];[C];1999
3 Wu Jian~1,Zhang Yun~2,Wang Yifeng~1,Chen Ning~(1*) 1.School of Mechanical and Automotive Engineering,Zhejiang University of Science and Technology,Hang Zhou 310023 2.School of Information Science and Technology,Zhejiang Forestry University,Hang Zhou 311300;Closed Electro-hydraulic Proportional System Based on Multiple Sliding Mode Adaptive Control[A];[C];2009
4 SHENG Wei~1,CHENG Kang~2,ZHANG Kan-Jian~2,FEI Shu-Min~2 (1.NRIST,Nanjing 210016,China 2.Southeast University,Nanjing 210096,China);Design of a terminal sliding mode speed controller for switched reluctance motor[A];[C];2009
5 Hu Guangfeng,LIU Feng,Zhou Zuyang,Wang Libin,Xie Shimin (Beijing Institute of Automatic Control Equipment,Beijing 100074);The SMVSC Technology on the Aerial Photogrammetry Stabilized Platform[A];[C];2010
Chinese Journal Full-text Database 10 Hits
1 LIU Dan, JU Yin-fang, MA Biao, SUN Xian-lin (School of Mechanical and Vehicular Engineering,Beijing Institute of Technology, Beijing 100081, China);Study on the Dynamic Simulation of the Relief Valve of a Hydraulic Torque Converter Based on AMEsim Software[J];Acta Armamentarll The Volume of Tank, Armored Vehicle and Engine;2005-02
3 Li Baowei;He Youduo;A MATHEMATICAL MODEL OF THE FLUID FLOW COMBUSTION AND HEAT TRANSFER IN BOF[J];Journal of Baotou University of Iron and Steel Technology;1994-04
4 Wang Zhiren (Thedepartment of Mathematics and Basic Sciences,Yanshan University,Qinhuangdao 066004)Hou Peiguo (The College of Electrical Engineering,Yanshan University,Qinhuangdao 066004);The Model of Neural Network for Solving Linear Programming Problems[J];JOURNAL OF YANSHAN UNIVERSITY;1999-03
5 WANG Yan-min,FENG Yong,LU Qi-liang (Department of Electrical Engineering,Harbin Institute of Technology,Harbin 150001,China);Design of free-chattering sliding mode control systems for permanent magnet synchronous motor[J];Electric Machines and Control;2008-05
6 ZHAI Yongjie,WANG Dongfeng,HANPu(North China Electric Power Univ. Baoding 071003, China);Multi-Class Support Vector Machines for Fault Diagnosis of Turbogenerator Unit[J];Power Engineering;2003-05
7 PAN Ya-lin (Anhui Institute of Architecture,Hefei 230022,China);Improving the Precision of Instruments Based on Gray System Model[J];Electronics Process Technology;2002-03
8 ZHANG Li,ZHOU Wei da,JIAO Li cheng (National Key Lab for Radar Signal Processing,Xidian University,Xi'an,Shaanxi 710071,China);Scaling Kernel Function Support Vector Machines[J];Acta Electronica Sinica;2002-04
9 Tong Qinye Yan Xiaogang Kong Jun Xue Zongqi (Department of Biology and Medical Engineering,Zhejiang University,Hangzhou 310027);APPLICATION OF CHAOTIC THEORY TO MEASURING[J];;1999-01
10 TAN Shan-wen~1,QIN Shu-ren~2,TANG Bao-ping~2(1.Department of Energy & Environment, Engineering Xihua University, Sichuan Chengdu 610039, China;2.College of Mechanical Engineering, Chongqing University, Chongqing 400030, China);The Filtering Character of Hilbert-Huang Transform and Its Application[J];Journal of Chongqing University(Natural Science Edition);2004-02
【Secondary References】
Chinese Journal Full-text Database 2 Hits
1 WANG Fu-bin1,LIU Jie1,JIAO Chun-wang1,CHEN Zhi-kun2,3(1.School of Mechanical Engineering & Automation,Northeastern University,Shenyang 110819,China;2.Institute of Electrical Engineering,Yanshan University,Qinhuangdao 066004,China;3.Computer and Automated Control College,Hebei Polytechnic University,Tangshan 063009,China.);Simulating the Excavating Track of a Excavator Robot Using an Adaptive Neural-Fuzzy Inference System[J];Journal of Northeastern University(Natural Science);2011-04
2 LIU Bo,HUANG Jie,LU Jiang-bin,WANG Hao(College of Mechnical and Eletrical Engineering,Central South University,Changsha 410083,China);Research on Trajectory Control of Skid Steer Loader in Automatic Digging[J];Journal of Wuhan University of Technology;2010-23
【Secondary Citations】
Chinese Journal Full-text Database 10 Hits
1 ;Automation of construction macninery[J];Construction Machinery and Equipment;1989-11
2 Chen Hong et al.;Design of a Wire Remote Control System for Excavator[J];CONSTRUCTION MACHINERY AND EQUIPMENT;1998-01
3 Guo Gang et al.;Control of the Trajectory of Bucket Tooth on the Working Attachment of Hydraulic Excavators[J];CONSTRUCTION MACHINERY AND EQUIPMENT;1998-06
4 Li Lansheng et al;Research of Key Techniques in the Automatic Operation of Hydraulic Excavator[J];CONSTRUCTION MACHINERY AND EQUIPMENT;2000-08
5 ;A Study on Design Method of Radio Remote Control System of Crawler Type Trimming Dozer[J];Construction Machinery and Equipment;2002-08
6 BAI Hua, LU Nian- li, LU Guang- ming (Department of Mechanical& Electrical Engineering, Harbin Univ. of Civil Eng.& Arch., Harbin 150006, China);The microcomputer- controlled teaching and playing back controlling system of hydraulic excavator[J];JOURNAL OF HARBIN UNIVERSITY OF CIVIL ENGINEERING AND ARCHITECTURE;2000-04
7 He Hanwu Xiong Youlun Hu Hanqiao Niu Xishou;A Micro-Computer-Based Robot Off-Line Programming System[J];;1992-05
8 JIANG Guoyao;LUDV System for Hydraulic Excavators[J];Technology & Management for Construction Machinery;2004-05
9 DAIJu;XIONG Liying SONG Kewei Shenyang Institute of Automation, Academia Sinica;A PRELIMINARY STUDY OF SUPERVISORY CONTROL TO TELEROBOTS[J];Robot;1990-04
10 ZHU Xiangji(Automatic & Robot Research Center of Coal Mine China University of Mining and Technology Xuzhou 221008);DISCUSSION ON THE ROEOTIZATION OF MECHANICAL MINING SHOVEL[J];ROBOT;1995-05
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved