THE CORRELATION OF THE HYDRAULIC CYLINDERS OF THE EXCAVATOR FOR OBTAINING A BUCKET OPTIMUM TRAJECTORY

Alexandru VLADEANU, Marcel MIGDALOVICI, Daniela BARAN, Gabriela VLADEANU

Abstract


In the article, a version of control of the bucket position used in the stage of finishing of the digging works executed with the hydraulic excavators with backhoe attachment is presented. This system has the magnetostrictive sensors mounted on the hydraulic cylinders of the working equipment. The relations of calculus for the hydraulic cylinders lengths for manoeuvre of the boom, stick and bucket in function of the bucket cutting edge position are presented. An application for a certain case is presented, establishing the correlation between the hydraulic cylinders lengths for to realize a linear trajectory of digging. The theoretical considerations are used at the identification and approximation through polygon segments of a trajectory which respects a compatible optimization criterion.

Key words: hydraulic excavator, working equipment, hydraulic cylinder, magnetostrictive sensor, the control of the bucket position, optimization.


Full Text:

PDF

References


Teodorescu, P. P., Stanescu, N. D., Pandrea, N., Numerical analysis with applications in mechanics and engineering, John Wiley & Sons, Hoboken, USA (2013).

A.J. Koivo, M. Thoma, E. Kocaoglan, J. Andrade-Cetto, Modeling and control of excavator dynamics during digging operation, Journal of aerospace engineering, January 1996

Young Bum Kim, Junhyoung Ha , Hyuk Kang, Pan Young Kim, Jinsoo Park, F.C. Park, Dynamically optimal trajectories for earthmoving excavators, Automation in Construction 35 (2013), pag. 568–578

Alvin Anthony, Modeling and analysis of hydraulic load sensing strategies in off highway equipment. Part I. Modeling and analysis of excavator system, University of Parma, 2012 (doctoral thesis led by prof. Paolo Casoli)

Howard Cannon, Extended earthmoving with an autonomous excavator, The Robotics Institute, Carnegie Mellon University, Pittsburg, 1999 (masters thesis)

Richard Davidson, Vernon Brabec, Method for controlling an excavator, patent 5854988/29.12.1998

He, Qinghua Changsha, Electromechani-cally controlled excavator and method for controlling the electromechanically controlled excavator, patent EP 1 835 079 B1/ 2008

Yan Jun, Li Bo, Zeng Yonghua, Qian Haibo, A rewiew on modeling, identification and servo control of robotic excavator, International Journal of Engineering, Science and Technology, vol.5, no.4, 2013

Vlădeanu, A.., Vlădeanu, G., The control of the bucket position at the excavators equipped with sensors of length at the hydraulic cylinders, Proceedings of SISOM, may 2017, Bucharest

Vlădeanu, A.., Vlădeanu, G., The control of the bucket position at the hydraulic excavator with backhoe attachment, Proceedings of SISOM, may 2011, Bucharest

Vlădeanu,A..,Vlădeanu,G., Perfectiona-rea sistemului de comanda si monitorizare la excavatoare hidraulice, Conferinta ASTR, Galati 2015

Vlădeanu, A.., Vlădeanu, G., Posibilitati de sapare a unor suprafete plane cu excavatoare hidraulice cu cupa inversa, SINUC 2015

Migdalovici, M., Baran, D., and Vlădeanu, G. Stability Control of Linear and Nonlinear Dynamic Systems, International Journal of Acoustics and Vibration, 21(4), 440-444, (2016).

M. Migdalovici, D. Baran, G. Vlădeanu, "On the Dynamical Systems Stability Control and Applications", Applied Mechanics and Materials, Vol. 555, pp. 361-368, 2014.

Migdalovici, M., Baran, D., Vladeanu G., Dynamical systems stability. Theory and applications (in Romanian), Self-Publishing Printing House, Bucharest, (2013)

Vlădeanu, A.., Vlădeanu, G., The determination of the bucket position at the excavators with the aid of the tilt sensors, Proceedings of SISOM, may 2016, Bucharest

Becky Schultz, Komatsu digs in with semi-automatic "intelligent" excavator,

http://www.forconstructionpros.com/article/12019935/komatsu-digs-in-with-its-pc210lci-10-semi-automatic-intelligent-excavator


Refbacks

  • There are currently no refbacks.


JOURNAL INDEXED IN :