Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Phase Portrait Analysis-Based Safety Control for Excavator Using Adaptive Sliding Mode Control Algorithm

적응형 슬라이딩 모드 제어를 이용한 위상 궤적 해석 기반 굴삭기의 안전제어 알고리즘 개발

  • Oh, Kwang Seok (Department of Mechanical Engineering, Hankyong National University) ;
  • Seo, Ja Ho (Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology Oshawa) ;
  • Lee, Geun Ho (Korea Institute of Machinery & Materials)
  • Received : 2018.06.01
  • Accepted : 2018.07.10
  • Published : 2018.09.01
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Abstract

This paper presents a phase portrait analysis-based safety control algorithm for excavators, using adaptive sliding mode control. Since working postures and material types cause the excavator's rotational inertia to vary, the rotational inertia was estimated, and this estimation was used to design an adaptive sliding mode controller for collision avoidance of the excavator. In order to estimate the rotational inertia, the recursive least-squares estimation with multiple forgetting was applied with the information of the swing velocity of the excavator. For realistic evaluation, an actual working scenario-based performance evaluation was conducted. Based on the estimated rotational inertia and an analysis of estimation errors, sliding mode control inputs were computed. The actual working scenario-based performance evaluation of the designed safety algorithm was conducted, and the results showed that the developed safety control algorithm can efficiently avoid a collision with an object in consideration of rotational inertia variations.

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References

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