ON ACTIVE CONTROL OF TRANSITORY REGIMES WITHIN THE DRIVING SYSTEM OF A SINGLE BUCKET EXCAVATING EQUIPMENT FOR THE BANK-SLOPING AND DIFFERENTIAL EXCAVATION PROCESSES

摘要

Minimizing vibrations of the excavator bucket during the technological processes and especially for the bank-sloping and differential excavations supply the main goal of this study. Kinematical analysis provides basic information regarding the optimal control of driving system. An active control system is proposed in order to assist the operating setup taking into account both the operational commands and the equipment capability including the actuation drive ability. The authors analyze the system responses in the terms of working body track oscillations using two common controller types with different parameters. Computational approaches based on realistic models for excavating equipment reveal qualitative and quantitative error between real and theoretical shapes of embankment, in addition with a set of dynamic spectral perturbations into the bucket evolution.