【正文】 受載作用 利用控制系統(tǒng)，使液壓挖掘機(jī)執(zhí)行實(shí)際挖掘動(dòng)作，以研究其受載時(shí)的影響。加入非線性補(bǔ)償后（圖 11 中的開(kāi)）能減少這種錯(cuò)誤的產(chǎn)生。 控制功能 控制系統(tǒng)有三種控制模式，能根據(jù)操作桿 和選擇開(kāi)關(guān)自動(dòng)切換。因此，要在所有位置以恒定的增益穩(wěn)定的控制機(jī)器是困難的。 狀態(tài)反饋 建立在第 2 節(jié)所討論的模型的基礎(chǔ)上，若動(dòng)臂角度控制動(dòng)態(tài)特性以一定的標(biāo)準(zhǔn)位置逼近而線性化（滑芯位移 X 10，液壓缸壓力差 P 110，動(dòng)臂夾角 θ10），則該閉環(huán)傳遞函數(shù)為 其中， Kp 是位置反饋增益系數(shù)； 由于系統(tǒng)有較小的系數(shù) a1,所以反應(yīng)是不穩(wěn)定的。hi是液壓缸的長(zhǎng)度 。 1. 自動(dòng)控制系統(tǒng)必須采用普通的控制閥。D Kobe Steel Engineering Reports 37 2 1987 74–78. [6] . Vaha, . Skibniewski, Dynamic model of excavator, Journal of Aerospace Engineering 6 2 1990 April. [7] H. Hanafusa, Design of electrohydraulic servo system for articulated robot, Journal of the Japan Hydraulics and Pneumatics Society 13 7 1982 1–8. [8] . Kuntze et al., On the modelbased control of a hydraulic large range robot, IFAC Robot Control 1991 207–212. 液壓挖掘機(jī)的半自動(dòng)控制系統(tǒng) 摘要 :開(kāi)發(fā)出了一種應(yīng)用于液壓挖掘機(jī)的半自動(dòng)控制系統(tǒng)。 Pi scylinder rodside pressure。 Operation 1. Introduction A hydraulic shovel is a construction machinery that can be regarded as a large articulated robot. Digging and loading operations using this machine require a high level of skill, and cause considerable fatigue even in skilled operators. On the other hand, operators grow older, and the number of skilled operators has thus decreased. The situation calls forhydraulic shovels, which can be operated easily by any person w1–5x. The reasons why hydraulic shovel requires a high level of skill are as follows. 1. More than two levers must be operated simultaneously and adjusted well in such operations. 2. The direction of lever operations is different from that of a shovel’s attachment movement. For example, in level crowding by a hydraulicshovel, we must operate three levers ?arm, boom, bucket. simultaneously to move the top of a bucketalong a level surface ?Fig. 1.. In this case, the lever operation indicates the direction of the actuator, but this direction differs from the working direction. If an operator use only one lever and other freedoms are operated automatically, the operation bees very easily. We call this system a semiautomatic control we develop this semiautomatic control system, these two technical problems must be solved. 1. We must use ordinary control valves for automatic control. 2. We must pensate dynamic characteristics of a hydraulic shovel to improve the precision of control. Fig. 1. Level crowding of an excavator and frame model of anexcavator. We have developed a control algorithm to solve these technical problems and confirm the effect of this control algorithm by experiments with actual hydraulic shovels. Using this control algorithm, we have pleted a semiautomatic control system for hydraulic shovels. We then report these items. 2. Hydraulic shovel model To study control algorithms, we have to analyzenumerical models of a hydraulic shovel. The hydraulic shovel, whose boom, arm, and bucket joints are hydraulically driven, is modeled as shown in . The details of the model are described in thefollowing. Fig. 2. Model of hydraulic shovel. . Dynamic model [6] Supposing that each attachment is a solid body, from Lagrange’s equations of motion, the following expressions are obtained: 其中 K sm 1 g。 selects control modes andcalculates actuating variables。 ，至少有兩個(gè)操作手柄必須同時(shí)操作并且要協(xié)調(diào)好。依次表示動(dòng)臂，斗柄，鏟斗 )。為了獲得更精確的控制，非線性補(bǔ)償和 狀態(tài)反饋均加入位置反饋中。例如，如圖 6 所示，在反鏟水 平動(dòng)作控制中，動(dòng)臂的控制是通過(guò)保持斗柄底部 Z（由 θ1與 θ2計(jì)算所得）與 Zr 的高度。這一節(jié)將討論該控制系統(tǒng)的結(jié)構(gòu)與功能。 7 現(xiàn)場(chǎng)試驗(yàn)結(jié)果與分析 通過(guò)對(duì)系統(tǒng)進(jìn)行現(xiàn)場(chǎng)試驗(yàn)，證實(shí)該系統(tǒng)能準(zhǔn)確工作。 位置的補(bǔ)償作用 當(dāng)反鏟處在上升位置或者反鏟動(dòng)作完成時(shí)，反鏟水平動(dòng)作趨于不穩(wěn)定。D Kobe Steel Engineering Reports 37 2 1987 74–78. [6] . Vaha, . Skibniewski, Dynamic model of excavator, Journal of Aerospace Engineering 6 2 1990 April. [7] H. Hanafusa, Design of electrohydraulic servo system for articulated robot, Journal of the Japan Hydraulics and Pneumatics Society 13 7 1982 1–8. [8] . Kuntze et al., On the modelbased control of a hydraulic large range robot, IFAC Robot Control 1991 207–212. 。采用第 節(jié)所描述的斗柄臂桿前饋控制能減少錯(cuò)誤而不致于增大 Kp。 （ 3）手控操作模式：當(dāng) 既沒(méi)有選擇反鏟水平動(dòng)作模式，也沒(méi)有選擇鏟斗水平舉升模式時(shí)，動(dòng)臂，斗柄，鏟斗都只能通過(guò)手動(dòng)操作。圖 9 表示使用前饋控制能減少控制錯(cuò)誤的產(chǎn)生 . 6 半自動(dòng)控制系統(tǒng) 建立在模擬實(shí)驗(yàn)的基礎(chǔ)上，半自動(dòng)控制系統(tǒng)已制造出來(lái)，應(yīng)用在 SK16 型挖掘機(jī)上試驗(yàn)。這就是所謂的壓力反饋。 其中， 是滑芯位移的參考輸入； 是時(shí)間常數(shù)。模型的具體描述如下。開(kāi)發(fā)出一種讓任何人都能容易操控的液壓挖掘機(jī)就非常必要了 [15]。e gain scheduling according to the attitude In articulated machines like hydraulic shovels,dynamic characteristics are greatly susceptible to the attitude. Therefore, it is difficult to control the machine stably at all attitudes with constant gain. To solve this problem, the adaptive gain scheduling according to the attitude is multip