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JRM Vol.15 No.1 pp. 47-53
doi: 10.20965/jrm.2003.p0047
(2003)

Paper:

Sliding Mode Control of Hydraulic Power Shovel

Hironao Yamada*, Kyoji Takeichi** and Takayoshi Mato*

*Department of Human and Information System, Gifu University, 1, Yanagido, 1-chome, Gifu, 501-1193 Japan

**NIDEK CO., LTD, 34-14, Maehama, Hiroishi-cho, Gamagori, Aichi, 443-0038 Japan

Received:
September 26, 2002
Accepted:
October 22, 2002
Published:
February 20, 2003
Keywords:
mechatronics and robotics, excavator, hydraulic actuator, robust control, sliding mode control
Abstract

We report an excavator driven by three links – an arm, a boom, and a swing – as representative of construction robots. Each link consists of an electrohydraulic servosystem. A problem with such excavators is the high degree of skill and comparatively long-term training required to operate it. To solve this problem, we equip the excavator with a trajectory control algorithm to control the front end. Note that the excavator’s servosystems are influenced by disturbances and by nonlinear features such as asymmetrical piston geometry, initial shifts in the neural positions of servovalves and variations in moving parts inertia. For trajectory control, we apply sliding mode control using a disturbance observer in servosystems. The dynamic performance of this trajectory control is studied in experiments and results confirmed the validity of the applied method.

Cite this article as:
Hironao Yamada, Kyoji Takeichi, and Takayoshi Mato, “Sliding Mode Control of Hydraulic Power Shovel,” J. Robot. Mechatron., Vol.15, No.1, pp. 47-53, 2003.
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