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Digital Servo Control of a Robotic Excavator

Chinese Journal of Mechanical Engineering 2009年第2期22卷 190-197页

作者： GU Jun seward derek School of Mechanical ＆ Electronic Engineering Soochow University Suzhou 215021 China Engineering Department Lancaster University Lancaster LA1 4YR UK

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.

关键词： robotic excavator nonlinear dynamics data-based model true digital control (TDC) proportional-integral-plus (PIP)

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Modelling of an hydraulic excavator using simplifiedrefined instrumental variable(SRIV)algorithm

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控制理论与应用（英文版） 2007年第4期5卷 391-396页

作者： Jun GU James TAYLOR derek seward School of Mechanical ＆ Electronic Engineering Soochow University Suzhou Jiangsu 215021 China Engineering Department Lancaster University Lancaster LA 1 4YR UK

Instead of establishing mathematical hydraulic system models from physical laws usually done with the problems of complex modelling processes, low reliability and practicality caused by large uncertainties, a novel modelling method for a highly nonlinear system of a hydraulic excavator is presented. Based on the data collected in the excavator＇s arms driving experiments, a data-based excavator dynamic model using Simplified Refined Instrumental Variable （SRIV） identification and estimation algorithms is established. The validity of the proposed data-based model is indirectly demonstrated by the performance of computer simulation and *** machine motion control exoeriments.

关键词： Hydraulic excavator Nonlinear dynamics Data based model Simplified refined instrumental variable algorithm

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