Study on Automation of Excavation Machineries

传统上，大多数挖掘机械都是手动控制的。最近，已经开发了一些自动控制的。在大多数情况下，控制变量仅为位移，通过这种方法，需要非常精确的控制。这导致了一个相对昂贵的控制系统，也非常仔细的维护时间表。在这份报告中，作者讨论了控制方法的适用性，其中选择的力和位移的线性组合作为控制变量。首先，几个位移传感器进行了测试，以选择一个合适的，发现激光位移型是适合的目标。在下一阶段，两个致动器（液压油缸）进行了测试，以证明力位移控制算法的适用性。第二个作动器是在考虑了第一个作动器所取的基本数据后作了改进后制成的，表明它适合于我们的目的，并进行了计算机模拟，结果表明，采用这种控制方法可以实现精确、快速和安全的控制。并成功地进行了小比例尺模型试验，试验结果与理论计算结果相吻合.

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.