Aggregated Hierarchical Sliding Mode Control for Vibration Suppression of an Excavator on an Elastic Foundation
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International Journal of Precision Engineering and Manufacturing https://doi.org/10.1007/s12541-020-00422-9
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Aggregated Hierarchical Sliding Mode Control for Vibration Suppression of an Excavator on an Elastic Foundation Quoc‑Dong Hoang1,2 · Jong‑Gyu Park1 · Soon‑Geul Lee1 · Jae‑Kwan Ryu3 · Vinicio Alejandro Rosas‑Cervantes1 Received: 13 January 2020 / Revised: 25 July 2020 / Accepted: 22 September 2020 © Korean Society for Precision Engineering 2020
Abstract Crawler excavators are important, utilitarian machines in construction industries. Special features of the chain and chassis allow them to operate and move on unstable ground. The shock motions of the links, which coincide with the changes of the forces impacting the foundation, create vibrations within the entire system. The highest level of vibrations appears when the boom moves, as it holds the robotic excavator’s entire actuator with large mass and moment of inertia. These undesired fluctuations cause system instability, driver discomfort, reduced operating efficiency, and increased energy consumption. In this study, a hierarchical sliding mode control focusing on boom movement is designed based on the system dynamic model. This controller allows the boom to move precisely with a slight fluctuation angle of the main body, even while the other links are moving using a parameter estimator. Maintaining stable boom movements significantly simplifies arm and bucket control. The effectiveness of the entire work is investigated by numerical simulation and implementation results on a small-scale hydraulic excavator. Keywords Hydraulic crawler excavator · Hierarchical sliding mode · Vibration suppression · Elastic foundation List of Symbols m1 Mass of the main body m2 Mass of the boom m3 Mass of the arm m4 Mass of the bucket I1z Moment of inertia of the body about the axis perpendicular to the work plane and passing through O1 I2z Moment of inertia of the boom the axis perpendicular to the work plane and passing through O2 I3z Moment of inertia of the arm the axis perpendicular to the work plane and passing through O3
Quoc-Dong Hoang and Jonggyu Park have Co-first authors. * Soon‑Geul Lee [email protected] 1
The School of Mechanical Engineering, Kyung Hee University, 1732 Deokyoungdae‑ro Giheung‑gu, Yongin‑si, Gyeonggi‑do 17104, South Korea
2
Institute of Mechanical Engineering, Vietnam Maritime University, Hai Phong, Vietnam
3
Unmanned/Robotic Systems Lab., LIG Nex1 Co. Ltd, Yongin‑si, Gyeong‑do, South Korea
I4z Moment of inertia of the bucket the axis perpendicular to the work plane and passing through O4 b1 Damping coefficients of body motion b2 Damping coefficients of boom motion g Gravitational acceleration a1 Length of the body a2 Length of the boom a3 Length of the am a4 Length of the bucket 𝛿𝛼 (t) Controlled angle of the body 𝛽(t) Controlled angle of the boom 𝛾(t) Controlled angle of the arm 𝜃(t) Controlled angle of the bucket ac1 Distance from the origin to the mass center of the body ac2 Distance from
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