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Araya, Hirokazu and Kagoshima, Masayuki
Semi-automatic control system for hydraulic shovel
Automation in Construction 10 (4) (2001) pp. 477-486
A semi-automatic control system for a hydraulic shovel has been developed. Using this system, unskilled operators can operate a hydraulic shovel easily and accurately. A mathematical control model of a hydraulic shovel with a controller was constructed and a control algorithm was developed by simulation. This algorithm was applied to a hydraulic shovel and its effectiveness was evaluated. High control accuracy and high-stability performance were achieved by feedback plus feedforward control, nonlinear compensation, state feedback and gain scheduling according to the attitude.