Design of a MIMO-PID Controller for a Hydraulic Excavator Considering the Velocity of CoM

カテゴリ: 部門大会

論文No: SS2-6

グループ名: 【C】平成30年電気学会電子・情報・システム部門大会プログラム

発行日: 2018/09/05

タイトル(英語): Design of a MIMO-PID Controller for a Hydraulic Excavator Considering the Velocity of CoM

著者名: 秋山 将貴(広島大学),洪水 雅俊(広島大学),小岩井 一茂(広島大学),山本 透(広島大学),上田 浩司(コベルコ建機),山下 耕治(コベルコ建機),山﨑 洋一郎(コベルコ建機)

著者名(英語): Masaki Akiyama|Masatoshi Kozui|Kazushige Koiwai|Toru Yamamoto|Koji Ueda|Koji Yamashita|Yoichiro Yamazaki

キーワード: 重心速度|FRIT|MIMO-PIDコントローラ|油圧ショベル|velocity of CoM|FRIT|MIMO-PID controller|hydraulic excavator

要約(日本語): In the industrial field, there are some equipment needed human operations with experiences to exert the high efficiency. In the case of the hydraulic excavator, skilled operators can operate the attachment smoothly, and acquire high productivity of work. However, unskilled operators are difficult to obtain higher productivity because of unstable and rough operations. The difference of the attachment motion are expressed as the center of mass, called CoM. Motion of CoM by skilled operators are more stable than unskilled one.In this paper, a design of controller based on the velocity of CoM is proposed. As a control method, a PID controller for a multi-input multi-output system tuned by FRIT is used. The effectivity of the proposed method is verified numerically.

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