Research on Autonomous Operation Motion Control of Excavator

Accurate motion control is the premise for the unmanned excavator to complete the operation. In this paper, the motion control of a 22 t hydraulic excavator is studied. By establishing the dynamic model of the 4-degree-of-freedom excavator working device, the external interference caused by gravity, centripetal force, Coriolis force and inertia to the hydraulic cylinder is compensated. The bucket load and related parameters in the excavation process are identified online, and the motion control accuracy of the excavator is improved. Based on the dynamic model, the motion control method of the unmanned excavator is given. The simulation and experimental results show that this motion control strategy can effectively improve the autonomous operation accuracy of the excavator.