대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2000년도 하계학술대회 논문집 D
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- Pages.2763-2765
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- 2000
퍼지 제어기를 이용한 유압 굴삭기의 굴삭 제어
Excavation Control of a Hydraulic Excavator with Fuzzy Logic Controller
- Seo, Sam-Jun (Anyang University) ;
- Kim, Dong-Sik (SoonChunHyang University) ;
- Park, Gwi-Tae (Korea University)
- 발행 : 2000.07.17
초록
The interactions between the excavation tool and the excavation environment are dynamic, unstructured and complex. In addition. operating modes of an excavator depend on working conditions, which makes it difficult to derive the exact mathematical model of excavator. Even after the exact mathematical model is established, it is difficult to design of a controller because the system equations are highly nonlinear and the state variable are coupled. The objective of this study is to design a fuzzy logic controller (FLC) which controls the position of excavator's attachment. This approach enables the transfer of human heuristics and expert knowledge to the controller. Expeiments are carried out to check the performance of the FLC.
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