Excavator Unattended Operation Debug System

Along with the improvement of the researching and innovating ability of excavators, new excavator types were frequently pushed into market. In order to save the human-resource which was invested in the commissioning works and reduce the testing period with the requirement of reliability being filled, it was important to research on the subjects about how to score the performance of the new excavator type more appropriately. Under such a background, a conception about unmanned excavator overall commissioning was proposed in this thesis. To carry out this conception, an unmanned excavator operating system which was based on motion teaching-playback technology was designed and researched in the thesis, through the motion teaching-playback of the joysticks on the excavator, the motion teaching-playback of the work arm was realized. The main achievements of the thesis were as follows:The domestic and abroad application actuality of the motion teaching-playback technology on excavator controlling and the development of other relative technologies were summarized in this paper. An automatic joystick operating mechanism which could satisfy the DOF and operating force demand of the joystick's motion was designed, and the actuating method, using a step motor as actuating motor, was decided. The operating items of the excavator overall testing was analysed, a measure about using the inclination angle to describe the motion of the joystick was developed. The integral control scheme of the motion-teaching system was decided, a open-loop control method was used in controlling the actuating motor to drive the joystick, and the joint angle error of the excavating arm was used as a feedback value to modulate the controlling. The mathematical model of the step motor was constituted and through the Matlab simulation it was proved that the open-loop control method of the step motor had good accuracy. Using the boom cylinder as an example, the model of the hydraulic system, by which the single-actions of the excavator was controlled, was simplified and its transfer function model was derived. The fuzzy-control method was imported into the process of the error feedback control, a fuzzy logic controller was devised, and with the combination of the step motor model and the simplified hydraulic system model of the excavator, a simulation was carried out, the result of the simulation showed that this control algorithm could minify the error into a relatively smaller region. The hardware control system of the excavator's unmanned operation was designed. The validity of the control algorithm was proved in the experiment, and the hydraulic impact of different sampling frequency caused on the hydraulic system was researched during the experiment.