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TECHNICAL BRIEFS

Instability Due to Interacting Hydraulic and Mechanical Dynamics in Backhoes

[+] Author and Article Information
Donald Margolis

Department of Mechanical and Aeronautical Engineering, University of California, Davis, CA 95616 e-mail: dlmargolis@ucdavis.edu

Taehyun Shim

Department of Mechanical Engineering, University of Michigan, Dearborn, 4901 Evergreen Road, Dearborn, MI 48128 e-mail: tshim@umich.edu

J. Dyn. Sys., Meas., Control 125(3), 497-504 (Sep 18, 2003) (8 pages) doi:10.1115/1.1591809 History: Received August 02, 2002; Revised December 27, 2002; Online September 18, 2003
Copyright © 2003 by ASME
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References

Vaha,  P. K., and Skibniewski,  M. J., 1993, “Dynamic Model of Excavator,” J. Aerospace Eng.,6(2), pp. 148–158.
Koivo, A. J., Ramos, M. C., and Thoma, M., 1994, “Dynamic Model for Excavators (and Backhoe),” IFAC Symposium on Robot Control, pp. 763–768.
Koivo,  A. J., 1994, “Kinematics of Excavators (Backhoes) for Transferring Surface Material,” J. Aerospace Eng.,7(1), pp. 17–32.
Koivo,  A. J., Thoma,  M. C., Kocaoglan,  E., and Andrade-Cetto,  J., 1996, “Modeling and Control of Excavator Dynamics During Digging Operation,” J. Aerospace Eng.,9(1), pp. 10–18.
Vaha,  P. K., and Skibniewski,  M. J., 1993, “Cognitive Force Control of Excavators,” J. Aerospace Eng.,6(2), pp. 159–166.
Koivo, A. J., and Song, B., 1998, “Neural Adaptive Control of Excavators,” IEEE Intl. Conf. Of Robotics and Automation, 1 , 8120817.
Plonecki,  L., Trampczynski,  W., and Cendrowicz,  J., 1998, “A Concept of Digital Control System to Assist the Operator of Hydraulic Excavators,” Autom.Constr., 7, pp. 401–411.
Nguyen, Q. H., Ha, Q. P., Rye, D. C., and Durrant-Whyte, H. F., 2000, “Force/Position Tracking for Electrohydraulic Systems of a Robotic Excavator,” IEEE Conf. On Decision and Control, Sydney, Australia, pp. 5224–5229.
Haga,  M., Hiroshi,  W., and Fujishima,  K., 2001, “Digging Control System for Hydraulic Excavator,” Mechatronics, 11, pp. 665–676.
Chang,  P. H., and Lee,  S., 2002, “A Straight-Line Motion Tracking Control of Hydraulic Excavator System,” Mechatronics, 12, pp. 119–138.
Arai, F., Tateishi, J., and Fukuda, T., 2000, “Dynamical Analysis and Suppression of Human Hunting in the Excavator Operation,” Proc. of the 2000 IEEE Intl. Workshop on Robot and Human interactive Commu. Osaka, Japan, pp. 394–399.
Karnopp, D. C., Margolis, D. L., and Rosenberg, R. C., System Dynamics: Modeling and Simulation of Mechatronic Systems, 3rd ed., John Wiley & Sons, NY, 2000.
Margolis,  D., and Hennings,  C., 1994, “Stability of Hydraulic Motion Control Systems,” ASME FPST,1, pp. 65–74.

Figures

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Schematic and various dimensions of the backhoe model
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A velocity diagram of the chassis and boom
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Partial bond graph of the system
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Schematic of the hydraulic cylinder and valve used to raise and lower the bucket loader
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Schematic and bond graph of the chassis and cab with the control stick
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Comparison of valve motion, y/ymax, for standard cab mounts, mounts with double stiffness, and standard cab mounts with flow control
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Comparison of boom motion for standard cab mounts, mounts with double stiffness, and standard cab mounts with flow control
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Comparison of the angular motion of the tractor chassis using standard cab mounts, mounts with double stiffness, and standard cab mounts with flow control
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Schematic and bond graph of the chassis and cab with the active flow control

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