Fuzzy Sliding Mode Control In Excavator Control

Hydraulic excavator is a kind of efficient engineering machinery andequipment, used widely in industrial production, construction, and in manyfields such as military defense technology. The existing ordinary hydraulicexcavators require operators having skilled technology, and some of the workenvironment is very bad. It is becoming an important topic to improve theworking characteristics of hydraulic excavator, reduce its energy consumption,and enhance work safety coefficient. The level of intelligent excavatordetermines a country’s productivity.In this article, the purpose is to realize the intelligent mining excavator.Trace the hydraulic excavator working equipment. In the case of presettingtrajectory of excavator working equipment, control the equipment to move alongthe preset path.The main work in this paper to be finished:(1) Use the method of D-H coordinate system to establish the kinematicsmodel of excavator, study the kinematics about positive and inverse problem todeduce Lagrange dynamics equation.(2) Plan the trajectory of hydraulic excavator’s movement with single or2connecting rods. Get the time function of hydraulic cylinder length and its firstand second order derivative by cubic polynomial interpolation method, in otherwords, its velocity and acceleration. Verify the rationality of the trajectoryplanning to reduce vibration of the body tremors in the process of mining,stabilize its movement and reduce mechanical wear and tear.(3) Hydraulic excavator intelligent control system is a nonlinear system. Itis difficult to establish a reasonable mathematical model because of theinterference outside and the unknown parameters of itself. In this paper wechoose the sliding mode control to track the movement of excavator workingdevice, design the sliding mode controller, and through the Matlab7.4/Simulinksimulation, to verify the feasibility of the control algorithm.(4) Study the inevitable chattering problem in the sliding mode variable structure control. Weaken the chattering by the method of using a continuousfuzzy output instead of switching term in sliding mode control. Verify thesuperiority of this method through the Matlab7.4/Simulink.