液压挖掘机的半自动控制系统中英文资料对照外文翻译文献综述
翻译部分
1．英文原文
Semiautomaticco
trolsystemforhydraulicshovel
HirokazuArayaMasayukiKagoshimaMecha
ical2271Japa
Accepted27Ju
e2000E
gi
eeri
gResearchLaboratoryKobeSteelLtdNishikuKobeHyogo651
AbstractAsemiautomaticco
trolsystemforahydraulicshovelhasbee
developedUsi
gthissystemu
skilledoperatorsca
operateahydraulicshoveleasilya
daccuratelyAmathematicalco
trolmodelofahydraulicshovelwithaco
trollerwasco
structeda
daco
trolalgorithmwasdevelopedbysimulatio
Thisalgorithmwasappliedtoahydraulicshovela
ditseffective
esswasevaluatedHighco
trolaccuracya
dhighstabilityperforma
cewereachievedbyfeedbackplusfeedforwardco
trol
o
li
earcompe
satio
statefeedbacka
dgai
1
fscheduli
gaccordi
gtotheattitudeq2001ElsevierScie
ceBVAllrightsreservedKeywordsCo
structio
machi
eryHydraulicshovelFeedforwardStatefeedbackOperatio
1I
troductio
Ahydraulicshovelisaco
structio
machi
erythatca
beregardedasalargearticulatedrobotDiggi
ga
dloadi
goperatio
susi
gthismachi
erequireahighlevelofskilla
dcauseco
siderablefatigueeve
i
skilledoperatorsO
theotherha
doperatorsgrowoldera
dthe
umberofskilledoperatorshasthusdecreasedThesituatio
callsforhydraulicshovelswhichca
beoperatedeasilybya
yperso
w15xThereaso
swhyhydraulicshovelrequiresahighlevelofskillareasfollows1Moretha
twoleversmustbeoperatedsimulta
eouslya
dadjustedwelli
suchoperatio
s2Thedirectio
ofleveroperatio
sisdiffere
tfromthatofashovel’sattachme
tmoveme
tForexamplei
levelcrowdi
gbyahydraulicshovelwemustoperatethreeleversarmboombucketsimulta
eouslytomovethetopofabucketalo
galevelsurfaceFig1I
thiscasetheleveroperatio
i
dicatesthedirectio
oftheactuatorbutthisdirectio
differsfromtheworki
gdirectio
Ifa
operatoruseo
lyo
elevera
dotherfreedomsareoperatedautomaticallytheoperatio
becomesvery
2
feasilyWecallthissystemasemiautomaticco
trolsystemWhe
wedevelopthissemiautomaticco
trolsystemthesetwotech
icalproblemsmustbesolved1Wemustuseordi
aryco
trolvalvesforautomaticco
trol2Wemustcompe
satedy
amiccharacteristicsofahydraulicshoveltoimprovetheprecisio
ofco
trol
Fig1Levelcrowdi
gofa
excavatora
dframemodelofa
excavatorWehavedevelopedaco
trolalgorithmtosolvethesetech
icalproblems
3
fa
dco
firmtheeffectofthisco
trolalgorithmbyexperime
tswithactualhydraulicshovelsUsi
gthisco
trolalgorithmwehavecompletedasemiautomaticco
trolsystemforhydraulicshovelsWethe
reporttheseitems2HydraulicshovelmodelTostudyco
trolalgorithmswehavetoa
alyze
umericalmodelsofahydraulicshovelThehydraulicshovelwhoser