Study on Automation of Excavation Machineries

传统上，大多数挖掘机械都是手动控制的。近年来，又开发了一些自动控制系统。在大多数情况下，被控变量只有位移，因此这种方法需要非常精确的控制。这导致了相对昂贵的控制系统和非常仔细的维护计划。在这篇报告中，作者讨论了选择力和位移的线性组合作为控制变量的控制方法的适用性。首先，对几种位移传感器进行了测试，选择了一种合适的位移传感器，发现激光位移类型适合该目标。在接下来的阶段，对两个执行器（液压阀）进行了测试，以验证力-位移控制算法的适用性。考虑到第一个执行器的基本数据，修改后的第二个执行器显示适合我们的目的。计算机仿真结果表明，该控制方法可以实现精确、快速、安全的控制。并成功进行了小比例尺模型试验，试验结果与计算结果相吻合。

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.