Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Free-shape contour control for excavators based on cross-coupling and double error pre-compensation
https://orcid.org/0000-0002-7838-2120
https://orcid.org/0000-0003-4085-6041
https://orcid.org/0000-0002-3771-466X
Abstract In construction automation, excavators frequently undertake intricate contouring tasks, including precise leveling and surface shaping. However, the absence of a dynamic model and error estimation approach for curved contours in existing solutions can significantly reduce operational precision. To address these challenges, a free-shape contour control method based on cross-coupling and double error pre-compensation is presented. The double error is a linear combination of tracking error and contour error. The curve contour error is calculated using a parameter-based backward approximation method. Furthermore, nonlinear disturbance observer and sliding mode control are combined to deal with the lumped disturbance. Simulation and platform experiment results demonstrate that the proposed controller has smaller chattering and contour error under loaded and extreme operating conditions. The control method provides an effective solution for excavators to complete different types of contour tasks. For further study, hydraulic system modeling will be considered to improve the performance of control system.
Highlights Free-form contour control is proposed to fulfill precise operations of excavators. Accurately estimate the contour error using an error estimation algorithm. Double error pre-compensation is designed to ensure better contour performance. Different shape/load tasks demonstrate the effectiveness of the controller. The controller has higher error accuracy compared to cross-coupling compensation.
Free-shape contour control for excavators based on cross-coupling and double error pre-compensation
https://orcid.org/0000-0002-7838-2120
https://orcid.org/0000-0003-4085-6041
https://orcid.org/0000-0002-3771-466X
Abstract In construction automation, excavators frequently undertake intricate contouring tasks, including precise leveling and surface shaping. However, the absence of a dynamic model and error estimation approach for curved contours in existing solutions can significantly reduce operational precision. To address these challenges, a free-shape contour control method based on cross-coupling and double error pre-compensation is presented. The double error is a linear combination of tracking error and contour error. The curve contour error is calculated using a parameter-based backward approximation method. Furthermore, nonlinear disturbance observer and sliding mode control are combined to deal with the lumped disturbance. Simulation and platform experiment results demonstrate that the proposed controller has smaller chattering and contour error under loaded and extreme operating conditions. The control method provides an effective solution for excavators to complete different types of contour tasks. For further study, hydraulic system modeling will be considered to improve the performance of control system.
Highlights Free-form contour control is proposed to fulfill precise operations of excavators. Accurately estimate the contour error using an error estimation algorithm. Double error pre-compensation is designed to ensure better contour performance. Different shape/load tasks demonstrate the effectiveness of the controller. The controller has higher error accuracy compared to cross-coupling compensation.
Free-shape contour control for excavators based on cross-coupling and double error pre-compensation
https://orcid.org/0000-0002-7838-2120
https://orcid.org/0000-0003-4085-6041
https://orcid.org/0000-0002-3771-466X
Abstract In construction automation, excavators frequently undertake intricate contouring tasks, including precise leveling and surface shaping. However, the absence of a dynamic model and error estimation approach for curved contours in existing solutions can significantly reduce operational precision. To address these challenges, a free-shape contour control method based on cross-coupling and double error pre-compensation is presented. The double error is a linear combination of tracking error and contour error. The curve contour error is calculated using a parameter-based backward approximation method. Furthermore, nonlinear disturbance observer and sliding mode control are combined to deal with the lumped disturbance. Simulation and platform experiment results demonstrate that the proposed controller has smaller chattering and contour error under loaded and extreme operating conditions. The control method provides an effective solution for excavators to complete different types of contour tasks. For further study, hydraulic system modeling will be considered to improve the performance of control system.
Highlights Free-form contour control is proposed to fulfill precise operations of excavators. Accurately estimate the contour error using an error estimation algorithm. Double error pre-compensation is designed to ensure better contour performance. Different shape/load tasks demonstrate the effectiveness of the controller. The controller has higher error accuracy compared to cross-coupling compensation.
Free-shape contour control for excavators based on cross-coupling and double error pre-compensation
Wang, Qi (Autor:in) / Shen, Yuying (Autor:in) / Wang, Jixin (Autor:in) / Su, Fa (Autor:in) / Feng, Chenlong (Autor:in) / Li, Xiang (Autor:in)
07.02.2024
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch