Track Programming And Controlling Of Hydraulic Excavator

Hydraulic excavators play important role in mining and construction industry. In order to enhance the efficiency, improve the working characteristic and the working condition and abate steering intension, reduce recycling circle, decrease the energy consumption, it is no doubt that robotic excavator will be the developing direction in the future. The motion control of the working equipments is the key to realize automatic excavation. Therefore, this paper focuses on the research of motion control system of the robotic excavator's working equipment to track the desired bucket trajectory.By using robotic technology, hydraulic control theory and PID control technique, the motion control system of motion trace of the robotic excavator is studied in this paper and the some remarks can be decrised as follows:1. The electro-hydraulic proportional alteration of the conventional hydraulic excavator: Three proportional valves are appended to the conventional hydraulic system of the excavator as a pilot valve to realize the electro-hydraulic position control of the excavator. The mathematical model of electro-hydraulic position control is derived.2. The kinematic and dynamic equations:The kinematic model of the excavator mechanical arm derived to realize the transform from the desired trajectory of the bucket to the working equipment's desired angles and the hydraulic cylinders' lengthes. By applying Lagrange equation, the dynamic equations of the excavator mechanical arm are obtained. The force analysis of the hydraulic cylinders is carried out.3. The study on the approach of the track programming:The track programming principle, which controls the tracking motion of various joints by the given end of the track of the bucket, is proposed in accordance with the time by means of analyzing and comparing the method of the robotic track programming. Using the Matlab, the simulation of linear track of the excavator is carried out and it privides the basis for intelligently controlling the planning track.4. PID control based on the approach of the track programming:The control system of the track is designed by using PID control technique. The motion of the excavator driven by three hydraulic cylinders is simulated by using the Matlab software, which can verify the effectiveness of the proposed shcme in this paper.