Gurko O. Methodological fundamentals to increase efficiency of automatic control of construction machine hydraulic manipulators

This thesis is devoted to a topical scientific and applied problem of increasing the efficiency of the construction machine hydraulic manipulator control when using a hydraulic single-bucket excavator due to the increase of the precision of soil development and the decrease of operation energy expenditure by means of both the creation of new methodological fundamentals and the upgrading of well-known ones for the synthesis of the hydraulic manipulator automatic control system in the conditions of the uncertainty of a priori information about external disturbances and a current state of the hydraulic manipulator control system. To solve the problem on the basis of the substantiated system-based concept of the excavator operation automated control, the structural and functional models of the automated system to control the excavator operation and its main subsystem - the excavator hydraulic automatic control system, which operates in the conditions of uncertainty using the values of external and internal disturbances, are created. On the basis of a robust approach to control complex technical objects in the conditions of uncertainty, the methodological fundamentals of the synthesis of the excavator hydraulic manipulator automatic control system, which ensures control error values within acceptable limits in spite of the factors of uncertainty regarding the characteristics of soil and the noise of the measurement of the excavator hydraulic manipulator joint coordinates, are further developed. The method of the multiple identifications of the state coordinates of the excavator hydraulic manipulator automated control system is proposed and updated. The results of modelling and full-scale experiments have proved the efficiency of the main provisions of research in course of the automatic control of the excavator hydraulic manipulator.