Development of automatic slope finishing system for hydraulic excavator

Hirokazu Araya; Makoto Kakuzen; Norihiko Hayashi; Tatsuo Arai

doi:10.1299/kikaic.70.2027

Development of automatic slope finishing system for hydraulic excavator

Hirokazu Araya^*, Makoto Kakuzen, Norihiko Hayashi, Tatsuo Arai

^*Corresponding author for this work

Fukui University of Technology

Research output: Contribution to journal › Article › peer-review

Abstract

Slope finishing is one of the most difficult tasks for a hydraulic excavator. Using the system which we have developed, even unskilled operators can do slope finishing by only one lever operation. For this system, we have developed various control algorithms such as non-linear compensation, feedback plus feedfoward control, gain scheduling and learning control. Coping with the non-liner characteristics and large mass of a hydraulic shovel, these control algorithms bring high control accuracy and high stability. This system was experimentally shown to be useful and has been put to practical use.

Original language	English
Pages (from-to)	2027-2033
Number of pages	7
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	70
Issue number	7
DOIs	https://doi.org/10.1299/kikaic.70.2027
Publication status	Published - Jul 2004
Externally published	Yes

Keywords

Construction Machinery
Gain Scheduling
Hydraulic Excavator
Learning Control
Maneuverability, Hydraulic Actuator
Nonlinear Compensation

Access to Document

10.1299/kikaic.70.2027

Cite this

@article{c3dd57f92a91467d9d1f54d7f26cf354,

title = "Development of automatic slope finishing system for hydraulic excavator",

abstract = "Slope finishing is one of the most difficult tasks for a hydraulic excavator. Using the system which we have developed, even unskilled operators can do slope finishing by only one lever operation. For this system, we have developed various control algorithms such as non-linear compensation, feedback plus feedfoward control, gain scheduling and learning control. Coping with the non-liner characteristics and large mass of a hydraulic shovel, these control algorithms bring high control accuracy and high stability. This system was experimentally shown to be useful and has been put to practical use.",

keywords = "Construction Machinery, Gain Scheduling, Hydraulic Excavator, Learning Control, Maneuverability, Hydraulic Actuator, Nonlinear Compensation",

author = "Hirokazu Araya and Makoto Kakuzen and Norihiko Hayashi and Tatsuo Arai",

year = "2004",

month = jul,

doi = "10.1299/kikaic.70.2027",

language = "English",

volume = "70",

pages = "2027--2033",

journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",

issn = "0387-5024",

publisher = "Japan Society of Mechanical Engineers",

number = "7",

}

TY - JOUR

T1 - Development of automatic slope finishing system for hydraulic excavator

AU - Araya, Hirokazu

AU - Kakuzen, Makoto

AU - Hayashi, Norihiko

AU - Arai, Tatsuo

PY - 2004/7

Y1 - 2004/7

N2 - Slope finishing is one of the most difficult tasks for a hydraulic excavator. Using the system which we have developed, even unskilled operators can do slope finishing by only one lever operation. For this system, we have developed various control algorithms such as non-linear compensation, feedback plus feedfoward control, gain scheduling and learning control. Coping with the non-liner characteristics and large mass of a hydraulic shovel, these control algorithms bring high control accuracy and high stability. This system was experimentally shown to be useful and has been put to practical use.

AB - Slope finishing is one of the most difficult tasks for a hydraulic excavator. Using the system which we have developed, even unskilled operators can do slope finishing by only one lever operation. For this system, we have developed various control algorithms such as non-linear compensation, feedback plus feedfoward control, gain scheduling and learning control. Coping with the non-liner characteristics and large mass of a hydraulic shovel, these control algorithms bring high control accuracy and high stability. This system was experimentally shown to be useful and has been put to practical use.

KW - Construction Machinery

KW - Gain Scheduling

KW - Hydraulic Excavator

KW - Learning Control

KW - Maneuverability, Hydraulic Actuator

KW - Nonlinear Compensation

UR - http://www.scopus.com/inward/record.url?scp=5044251925&partnerID=8YFLogxK

U2 - 10.1299/kikaic.70.2027

DO - 10.1299/kikaic.70.2027

M3 - Article

AN - SCOPUS:5044251925

SN - 0387-5024

VL - 70

SP - 2027

EP - 2033

JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

IS - 7

ER -

Development of automatic slope finishing system for hydraulic excavator

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this