日本フルードパワーシステム学会論文集
Online ISSN : 1349-7022
Print ISSN : 1880-3121
ISSN-L : 1349-7022
研究論文
油圧ショベルにおけるモデル予測追従制御の基礎実験
(未知物体押しのけに起因する掘削形状からの逸脱の抑制)
戸松 匠野中 謙一郎関口 和真鈴木 勝正
著者情報
ジャーナル フリー

2018 年 49 巻 1 号 p. 1-9

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抄録

There are cases where a hydraulic excavator does not perform the accurate digging operation due to the influence of the resistance force when the bucket tip contacts with the unknown object in the ground. To resolve this problem, we propose a method combining model predictive control and servo mechanism. Model predictive control with servo mechanism, which we call as MPCS, predicts the future motion and suppresses the influence of the unknown disturbance. Thus, MPCS can remove the influence of the resistance force owing to servo mechanism which increases the control input using the error integration. Moreover, it suppresses the deviation from the target shape owing to model predictive control which predicts the future motion and considers constraints when the resistance force has disappeared. In this paper, we consider constraints of the magnitude of the control input and the maximum discharge flow rate of the pump in MPCS. We show the effectiveness of MPCS through the experiment including collision with the unknown objects.

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© 2018 一般社団法人 日本フルードパワーシステム学会
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