Excavation Control of a Hydraulic Excavator with Fuzzy Logic Controller

퍼지 제어기를 이용한 유압 굴삭기의 굴삭 제어

  • 서삼준 (안양대 전기전자공학과) ;
  • 김동식 (순천향대 정보기술공학부) ;
  • 박귀태 (고려대 전기전자전파공학부)
  • Published : 2000.07.17

Abstract

The interactions between the excavation tool and the excavation environment are dynamic, unstructured and complex. In addition. operating modes of an excavator depend on working conditions, which makes it difficult to derive the exact mathematical model of excavator. Even after the exact mathematical model is established, it is difficult to design of a controller because the system equations are highly nonlinear and the state variable are coupled. The objective of this study is to design a fuzzy logic controller (FLC) which controls the position of excavator's attachment. This approach enables the transfer of human heuristics and expert knowledge to the controller. Expeiments are carried out to check the performance of the FLC.

Keywords