Paper Title:
Research on Automatic Digging Control and Algorithm of the Working Device of Skid Steer Loader
  Abstract

Focus on the trajectory planning problem of shovel operations of skid steer loader, a trajectory curve fitting equation is established. By use of the robotics theory and the D-H method, the functional relationship between the kinematics of the working device of skid steer loader and the displacement, position and orientation of boom bucket cylinder is derived, and the driving equation of displacement cylinder is obtained. Based on the requirements of precise trajectory control, an electro-hydraulic proportional position control system for position and orientation control is designed and the state equation of the system is established. By using fuzzy self-tuning PID control algorithm, the outside interference, parameter uncertainty and the error caused by other factors are weakened. The trajectory tracking simulation results demonstrate that: the biggest shovel tracking error is 12.5mm, the designed electro-hydraulic proportional control system can effectively track the trajectory of the working device of skid steer loader in automatic digging process. The rightness of the established model and the effectiveness of the corresponding controller are also proved.

  Info
Periodical
Edited by
Honghua Tan
Pages
2046-2051
DOI
10.4028/www.scientific.net/AMM.66-68.2046
Citation
B. Liu, J. Huang, L. W. Guo, L. Liu, "Research on Automatic Digging Control and Algorithm of the Working Device of Skid Steer Loader", Applied Mechanics and Materials, Vols. 66-68, pp. 2046-2051, 2011
Online since
July 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Dong Yun Wang, Cheng Guan, Li Ping Shao
Abstract:In position control system of hydraulic excavator, the uncoordinated speeds between joints make quite trajectory errors no matter how well...
1542
Authors: Xiang Qiang Zhong, Li Dong Liang
Chapter 3: Modeling, Analysis and Simulation
Abstract:Hydraulic excavator is a typical and complicated engineering machine by combination of mechanical, control and hydraulic system. It is very...
494
Authors: Hai Hong Chen, Jian Ping Zi
Chapter 16: Advanced Design Technology
Abstract:Three-dimensional software Solidworks and ADAMS were combined together to establish the virtual prototyping model of hydraulic excavator...
3235
Authors: Jian Xiao Zheng, Zhi Shan Duan, Bao Liang Guo
Chapter 3: Computer Aided Design in Mechanical Engineering
Abstract:Based on the working principle of the hydraulic system for the working device of ZL60 wheel loader, the power bond graph of its hydraulic...
221
Authors: Shao Xun Jin, Hui Peng Chen, Guo Jin Chen
Chapter 7: Computer-Aided Design and Technology
Abstract:On the foundation of analyzing the excavator’s working device structure, this paper built its three-dimensional model in Catia embedded in...
1679