Abstract
In this study, we focused on developing a hydraulic cylinder control system for the automated excavation operations of an unmanned excavator. The control system implemented a proportional–integral (PI) control algorithm. To align with the specific requirements of excavation tasks, control was individually applied to the boom and bucket axes according to their respective directions. After optimization, the P gain for the boom axis was configured at 9 for upward movement and 3.5 for downward movement. Additionally, the P gain for the bucket axis was optimized to 2.5 for inward movement and 2.0 for outward movement. The I gain value was fine-tuned to 1.0. This optimization process successfully confirmed the feasibility of stable excavation work.
| Original language | English |
|---|---|
| Pages (from-to) | 413-420 |
| Number of pages | 8 |
| Journal | Transactions of the Korean Society of Mechanical Engineers, A |
| Volume | 48 |
| Issue number | 6 |
| DOIs | |
| State | Published - 2024 |
Keywords
- Automated Excavation
- Construction Machinery
- Hydraulic Cylinder Control
- PI Control
- Unmanned Excavator
Quacquarelli Symonds(QS) Subject Topics
- Engineering - Mechanical
Fingerprint
Dive into the research topics of 'Development of a Hydraulic Cylinder Control System for Automated Excavation Work of Unmanned Excavators'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver