油圧パワーショベルのスライディングモード制御

• 山田 宏尚

• 武市 教児

• 武藤 高義

書誌事項

タイトル別名

• Sliding Mode Control of Hydraulic Power Shovel.
• ユアツ パワー ショベル ノ スライディング モード セイギョ

抄録

In this study, we deal with an excavator driven by three links-an arm, a boom, and a swing as a representative of construction robots. Here, each link consists of an electro-hydraulic servo system. A big problem with the use of such an excavator is the high degree of skill, and thus the comparatively long-term training regimen, that is necessary to operate it. In order to solve this problem, we equip the excavator with a trajectory control algorithm to control its front end. In this situation, it must be considered that the excavator's servo systems are influenced by disturbances and by many nonlinear characteristics, such as asymmetrical piston geometry, initial shifts in the neutral positions of the servo valves, and variations in the inertia of moving parts. As a method of trajectory control, in this study we apply in the servo systems a sliding mode control using a disturbance observer. The dynamic performance of this trajectory control system is investigated in experiments. The results of these experiments confirmed the validity of the applied method.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 68 (670), 1768-1774, 2002

  一般社団法人 日本機械学会

キーワード

• Mechatronics and Robotics
• Excavator
• Hydraulic Actuator
• Robust Control
• Sliding Mode Control

詳細情報

• CRID: 1390001206358040448
• NII論文ID: 110002378544
• NII論文ID: 130004234333
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.68.1768
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 6202431
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6202431
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/68/670/68_670_1768/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可