Model and experimental research on control of hydraulic excavator's manipulator

The dynamic analysis of the manipulator in a certain hydraulic excavator using three degrees of freedom(DOF) was carried out,and the dynamic equation of the system according to Lagrange equation was established.Trajectory tracking control law for the bucket of excavator was developed.The software,hardware,feedback measure device,trajectory controller of control system and related retrofitted work on experimental excavator were given.The three DOF test experiment on the trajectory tracking control of the excavator's bucket tip was carried out according to the PID control figure and trajectory tracking control equation.At the same time the method for compensating the dead band of the electro-hydraulic proportional valves and the selection of the PID parameters were put forward.The results show that at the selected parameters,the errors between the tested data and the target data are less than 110 mm on condition that the objective level line is 2.500 m length,and the level tracking velocity of the bucket is 136 mm/s,the maximal nonlinearity is 4.2%.