Masayuki Kagoshima

Semi-Automatic Control System for Hydraulic Shovel

A semi-automatic control system for a hydraulic shovel has been developed. Using this system, unskilled operators can operate a hydraulic shovel easily and accurately. A mathematical control model of a hydraulic shovel with a controller was constructed and a control algorithm was developed by simulation. This algorithm was applied to a hydraulic shovel and its effectiveness was evaluated. High control accuracy and high-stability performance were achieved by feedback plus feedforward control, nonlinear compensation, state feedback and gain scheduling according to the attitude.

Recognition of Operation with Hydraulic Excavators by Fuzzy Reasoning

This paper describes the recognition method of operation with hydraulic excavators. Features of operation are extracted from the lever operating data to recognize the operation. Using fuzzy reasoning depending on these features, high accuracy recognition became possible for various operators. We have also developed tuning method for membership functions in fuzzy reasoning. Even if the type of hydraulic excavators is changed, high accuracy recognition is maintained by this method. These methods were experimentally shown to be useful and have been put to practical use.