油圧ショベル模型によるスミス補償器を活用した水平均し作業の実現

抄録

At construction sites in recent years, there are issues such as labor shortages and productivity improvement, and there is a high demand for automation of construction machinery. In this research, we focus on the automation of leveling work and examine the trajectory tracking control method. We model the hydraulic system of a hydraulically driven model, apply the Smith Compensator to cascaded PID control in leveling work, and verified its effectiveness. Accuracy of trajectory tracking control of the bucket tip was improved in forward leveling work, but not in reverse direction leveling work. The control accuracy of each hydraulic cylinder could be improved, and the effectiveness of using the Smith Compensator could be shown.