COMPARISON OF CLASSICAL AND MODERN CONTROL APPLIED TO AN EXCAVATOR-ARM

摘要

The excavation of foundations, general earthworks and earth removal tasks are activities which involve the machine operator in a series of repetitive operations. Automation is likely to provide a number of benefits such as improving efficiency, quality and safety. However, a persistent stumbling block for system developers is the achievement of fast smooth movement of the excavator arm under automatic control. In this regard, the paper develops two very different design methods, a model-based, full state feedback approach and a classical frequency domain technique based on the Nichols chart. The advantages and limitations of these contrasting approaches are identified in terms of both performance and design effort.