Tracking Control of Force, Position, and Contour for an Excavator with Co-simulation

Abstract

This study proposes an effective control strategy for autonomous excavation under complex ground conditions, by integrating position, contour, and force control that are mutually associated factors. For the position control strategy, a non-linear PI controller was devised to control the stroke of each hydraulic cylinder, and therefore the bucket tip's position. To compensate for the ground resistive forces in contact space, an impedance controller was designed. Finally, contour compensation was considered to generate an optimal path of the bucket tip for ground leveling tasks. The performance of developed control algorithms was evaluated in the case of ground leveling task through co-simulation in multi-physics domains. Simulation results show that the designed control scheme provides good results in terms of transient response and tracking accuracy by dealing with all the aspects of force, position, and contour compensation.