油圧ショベルのアーム系3軸のロバスト軌跡制御 : 外乱オブザーバによる制御の有効性の検討

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It needs the skillful and advanced operational technique in order to operate the arm system of a hydraulic excavator. However the operators have been decreasing because it is tough and dangerous task. Therefore it is required to realize a full autonomous excavator system in the near future. At the first stage to realize an autonomous excavator system, it is necessary to achieve accurate trajector control without respect ot the various nonlinearities and the variation of parameters of a hydraulically driven excavator system. It is reported that a control method using disturbance observer is very effective, and it is also verified that these nonlinearities and the variation of parameters are compensated and that robustness of a system is improved. However, this method is not enough from the point of view of robust stability's. Therefore this study is aimed for the design of Q-filter in the disturbance observer and further improving the accuracy of positioning and trajectory tracking performance where Q-filter plays very important role for the robust stability of a control system. H-infinity control theory is applied in the design of Q-filter. In the experimental results of trajectory control in the 20 ton hydraulic excavator, it is shown that the robust stability and the accuracy of positioning and trajectory tracking are improved by using the disturbance observer designed by making use of H-infinity control theory. Finally, by further addition of PI control, it is confirmed that velocity deviation is decreased and trajectory-tracking performance is improved within ±1cm.
一般社団法人日本機械学会の論文
2000-08-25

油圧ショベルのアーム系3軸のロバスト軌跡制御 : 外乱オブザーバによる制御の有効性の検討

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