Study on Automation of Excavation Machineries

挖掘机械自动化研究

• 批准号: 03555133
• 负责人: OKUBO Seisuke
• 金额: $ 4.16万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research (B)
• 财政年份: 1991
• 资助国家: 日本
• 起止时间: 1991 至 1992
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-03555133/
• 关键词: Force-Displacement Control; Automation; Excavation Machinery; Hydraulic Ram; Computer Simulation; Laser displacement sensor; 岩石; 掘進; ロボット; 力・変位制御; トンネル掘進機; ブ-ムヘッダ

Conventionally most excavation machineries were controlled manually. Recently, some have been developed which are controlled automatically. In most cases, the controlled variable is only displacement and by this method very accurate control is necessary. This results in a comparatively expensive control system and also very careful maintenance schedule.In this report, the authors discussed on applicability of control method where a linear combination of force and displacement is chosen as the controlled variable.At first, several displacement sensors were tested to select an appropriate one, and it was found that the laser-displacement type is suitable for the aim. In the next stage, two actuators(hydraulic rams) were tested to certify the applicability to force-displacement control algorithm. The second actuator which was made after modification considering the fundamental data taken by the first one revealed to be appropriate for our purpose.The computer simulation has been carried out and it was found that by this control method the fine, rapid and safety control can be possible. Also, small scale model experiment was carried out successfully and the results, support the calculated one.

传统上，大多数挖掘机都是手动控制的。最近，已经开发出一些自动控制的设备。在大多数情况下，被控变量只是位移，这种方法需要非常精确的控制。在这份报告中，作者讨论了以力和位移的线性组合作为受控变量的控制方法的适用性。首先，测试了几种位移传感器，以选择合适的位移传感器，发现激光位移类型适合于这一目的。在下一阶段，对两个执行器(液压滑块)进行了测试，以验证力-位移控制算法的适用性。根据第一个执行器的基本数据修改后的第二个执行器符合我们的目的，并进行了计算机仿真，发现这种控制方法可以实现精确、快速和安全的控制。并成功地进行了小型模型试验，计算结果与计算结果吻合较好。