外文翻譯--輪式挖掘裝載機(jī)自動(dòng)控制(存儲版)
【正文】 從液壓缸測量 的力 。驅(qū)動(dòng)挖 掘 過程中 ，它 控制每個(gè)相對斗運(yùn)動(dòng) 的 自由度 。這部分主要 是 自動(dòng)挖掘方向相關(guān)的工作。以上所列標(biāo)準(zhǔn)進(jìn)行 ADCS 的設(shè)計(jì)。因此，亞利桑那大學(xué)的研究人員已經(jīng)開發(fā)的控制系統(tǒng) 是采用了集合眾多技術(shù)熟練操作者的挖掘知識 。這就需要經(jīng)營者作出關(guān)于挖 掘 難度判斷。首先，由于控制系統(tǒng)不 會 累了或失去 注意力，所以 在 換班的時(shí)間能夠?qū)崿F(xiàn)一致的操作 。本文 將 一個(gè) ADCS 原型系統(tǒng) 應(yīng)用 在 980G 卡特彼勒輪式裝載機(jī) 進(jìn)行 現(xiàn)場試驗(yàn) 并得出結(jié)果 結(jié)果。 Robotic excavation Introduction Automating the dig ponent of the excavation cycle on earth moving machines such as wheel loaders, hydraulic shovels and massexcavators, and cable shovels, has many potential benefits. Typically, when these machines are used in mining or construction applications they load large quantities of material (soil, rock, etc.) into a fleet of circulating trucks. Here, digging difficulty can vary dramatically and in these difficult digging situations effective loading performance is only achieved by expert operators. The dig time in these situations can double or triple which significantly reduces the output of the machine. The use of an effective automated digging control system would give every machine operator the capabilities of an expert operator, and generate the following benefits. First, consistent operation over the duration of the shift, since the control system does not get tired or lose concentration. Second, improve machine availability because the controller will always operate the machine within design limits during digging. Third, reduced wheel slippage during digging. However, to achieve these benefits and also operate effectively in the harsh excavation environment, it is important that the design of an automated system meets the following criteria. The sensors and actuators used should be limited to those currently available on a modern loading machine. For a wheel loader this includes electrohydraulic actuation of 2 bucket motions, bucket position sensors and measurement of a limited number of drive train parameters. Complex sensing and actuation systems may be prone to failure in the harsh environment. Next, the system should require no input from the operator related to characterizing digging difficulty. This would require operators to make a judgement concerning digging difficulty. In general, the subsurface characteristics of the material to be loaded and its potential interactions with the bucket during digging have the greatest effect on digging difficulty. Human operators cannot see below the surface. Thus, with no operator input the automated system must be able to adjust its digging trajectory by reacting to perceived changes in digging conditions. Automatic digging control of loading machines is particularly difficult because they op
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