Realization of Excavator Loading Operation by Nonlinear Model Predictive Control with Bucket Load Estimation. Issue 20 (2021)

• Record Type: Journal Article
• Authors: Ishihara, Shinji; Kanazawa, Akira; Narikawa, Ryu
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 20(2021)
• Page Start: 20
• Page End: 25
• Publication Date: 2021
• Subjects: Nonlinear predictive control -- Motion Control Systems -- Mechatronic systems -- Estimation -- Nonlinear filtering; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.11.147
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This research paper addresses the automation of excavator loading operations. We realized the movement of the bucket to the loading point without colliding with the dump truck by applying a Nonlinear Model Predictive Control (NMPC). In order to apply NMPC, an accurate dynamics for controlled system is needed. The weight of the soil loaded in the bucket changes with the situation and it has a great influence on the inertia of the front and swing. Therefore, we have developed a method to estimate the weight of soil by using a state estimator. Then, we achieve automation of the loading process by solving the NMPC while reflecting the estimated weight of the soil in the model. We have confirmed the effectiveness of the proposed method through numerical simulations.