СТРУКТУРНА МОДЕЛЬ СИСТЕМИ УПРАВЛІННЯ РОБОЧИМ ПРОЦЕСОМ ЕКСКАВАТОРА
DOI:
https://doi.org/10.30977/AT.2219-8342.2016.39.0.33Ключові слова:
екскаватор, земляні роботи, автоматизація, структура, планування завданьАнотація
На основі аналізу завдань, які повинні вирішуватися системою автоматичного управління робочим процесом гідравлічного екскаватора, запропоновано ієрархічну структуру системи управління. Виконано декомпозицію процесу управління, що дозволило розробити
структурну модель, яка відображає особливості багаторівневої територіально-розподіленої системи управління робочим процесом екскаватора
Посилання
Ostrirov V.N. Razrabotka i issledovaniya sistemy optimal'nogo upravleniya protsessom pod’ema kovsha ekskavatora-draglaina na vygruzku. Avtoref. dis. na soiskanie uch. stepeni kand. tekhn. nauk: spets. 05.13.07 «Avtomatizatsija tehnologicheskih protcessov i proizvodstv» [Development and investigation of an optimal control system of dragline-excavator bucket lifting process for unloading]. Moscow, 1980. 20 p.
Pevzner L.D. Algoritmicheskii i strukturnyi sintez avtomatizirovannogo upravleniya shagayushchim ekskavatorom-draglainom. Avtoref. dis. na soiskanie uch. stepeni d-ra tekhn. nauk: spets. 05.13.07 «Avtomatizatsija tehnologicheskih protces-sov i proizvodstv » [Algorithmic and structural synthesis of automated system of walking excavator- dragline]. Moscow, 1987. 31 p.
Akinfiev A.A. Sozdanie sistemy upravleniya operatsiei kopaniya dlya odnokovshovogo gidravlicheskogo ekskavatora s tsel'yu povysheniya effektivnosti ego raboty. Dis. kand. tekhn. nauk: 05.05.04 [Design of a digging operation control system for a single-bucket hydraulic excavator with the purpose of improving its performance].Moscow, 1983. 236 p.
Haynes J. N., Briggs A. Robotics-Shaping the future of pipeline excavation for repair. Proceeding of 17th World Gas Conference, Washington, DC, USA. 1988.
Vaha P.K., Koivo A.J., Skibiniewski M.J. Excavator dynamics and effect of soil on digging. Proceedings of the International Symposium on Automation and Robotics in Construction. 1991. pp. 297–306.
Bradley D.A., Seward D.W., Mann J.E., Goodwin M.R. Artificial intelligence in the control and operation of construction plant – the autonomous robot excavator. Automation in construction. 1993, Vol. 2, no. 3. pp. 217–228.
Yu H., Liu Y., Hasan M.S. Review of Modelling and Remote Control for Excavators. International Journal of Advanced Mechatronic Systems. 2010. Vol. 2, no. 1. pp. 68–80.
Gu J., Seward D. J. Improved control of intelligent excavator using proportionalintegral-plus gain scheduling. Journal of Central South University. 2012. Vol. 19, no. 2. pp. 384–392.
Dudanov I.V. Avtomatizatsiya ispolnitel'nykh sistem gidravlicheskogo ekskavatora. Avtoref. dis. na soiskanie uch. stepeni kand. tekhn. nauk: spets. 05.13.06 «Automatizatsija i upravlenie tehnologichskimi processami i proizvodstvami (promyshlennost)» [Automation of actuating systems of hydraulic excavator]. Samara, 2008. 16 p.
Choi J. Tracking Control of Hydraulic Excavator Using Time Varying Sliding Mode Controller with Fuzzy System. Advanced Science Letters. 2012. Vol. 15, no. 1. pp. 78–82.
Kim Y.B., Ha J., Kang H. Dynamically optimal trajectories for earthmoving excavators. Automation in Construction. 2013. Vol. 35. pp. 568–578.
Gurko A., Sergiyenko O., Nieto J.I. Hipólito. Trajectory Tracking Control of an Excavator Arm Using Guaranteed Cost Control. Lecture Notes in Electrical Engineering. 2016. Vol. 383. pp. 177–196.
Kalabin E. Sistemy upravleniya dlya ekskavatorov Topcon 3Dxi [Control systems for excavators Topcon 3Dxi]. Avialable at: http://prin.ru/articles/135/.
Trimble GCS600 Grade Control System For Excavators. Avialable at: http: // www.sitech-wc.ca/ Products_and_Solutions/Machine_Control_ Systems/ Trimble_GCS600_ Excavators.aspx.
Leica iCON excavate iXE3. Advanced 3D Excavator Control System. Avialable at: http://www.leica-geosystems.com/en/ Leica-iCON-excavate-iXE3_81272.htm.
Mikhirev P.A. Osnovy teorii kovshovykh avtomatizirovannykh rabochikh organov [Basic theory of automated bucket working tools]. Novosibirsk, Nauka Publ., 1986. 166 p.
Lee S., Kim J., Park J., Seo J., Y. Kim. Development of a heuristics-based task planning system for intelligent excavating system. Proceeding of 26th ISARC, Texas, USA. 2009. pp. 307–316.
Seo J., Lee S., Kim J., Kim S. K. Task planner design for an automated excavation system. Automation in Construction. 2011. Vol. 20, no. 7. pp. 954–966.
Kim S.K., Seo J., Russell J.S. Intelligent navigation strategies for an automated earthwork system. Automation in Construction. 2012. Vol. 21. pp. 132–147.
Schmidt D., Berns K. Construction site navigation for the autonomous excavator Thor. Proceeding of 6th International Conference on Automation, Robotics and Applications. 2015. pp. 90–97.
