Transactions of The Korea Fluid Power Systems Society (유공압시스템학회논문집)
- Volume 5 Issue 4
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- Pages.32-37
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- 2008
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- 1738-3315(pISSN)
A Study on the Bucket Tip's Position Control for the Intelligent Excavation System
지능형 굴삭 시스템의 버킷 끝단 위치제어에 관한 연구
Abstract
For the bucket tip position control of the excavator, a traditional hydraulic excavator system was exchanged into an electro-hydraulic one. EPPR valves are attached to the traditional MCV and hydraulic joysticks are replaced by electronic ones to develop the electro-hydraulic system. To control the electronic pump with a good performance, the control logic for the pump is deduced from the AMESim simulation and the experimental method on the test bench. To get a good position control performance of the excavator bucket tip, PI+AntiWindup controller is selected as a position controller. The experimental results showed the good controllability for the electro-hydraulic excavator system on the test bench.