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 - https://www.scopus.com/pages/publications/5044251925
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 -