Design of a Database-Driven Model Predictive Control System for Excavator-Environment Interaction

The work object characteristics of a hydraulic excavator differ depending on the construction site, furthermore, they change during the work. Therefore, it is difficult to derive the desired control performance in the control system of a hydraulic excavator without considering the characteristics of the work object. This paper presents a database-driven model predictive control system that considers the characteristics of the work object. The characteristics of the excavator-environment interaction are modeled as a spring-mass-damper system with two degrees of freedom, and used in the proposed control system. The effectiveness of the proposed method is verified by a simulation using the model. The control performance is improved by applying the proposed method to the controlled object whose characteristics are subject to change.