Modeling, simulation and work automation for construction machinery

Aim of project
The main issue of the project is the continuation of the previous projects: no. 706749101 JT07B 032 11 and 8T07C 03520, project title: “Computer simulation and automatization of the working cycle of the backhoe excavator” (2001–2004). The results of the previous projects (very highly evaluated by KBN and with good opinions of users of the constructed machines equipped with an onboard computer) convinced the authors to continue research within this program.

The main topics of the projects are:
Development of machine dynamic modeling methods;

Research of optimal excavation methods;

Development of the control and measuring system for mobile machines;

Development of the new close loop control system for automatic
excavation;

Development of the concept of distributed onboard computers
based on Canbus;

Tests on the real machine.

Expected results
The Expected results of the project are:

Complete model of the excavator which will include the model of hydraulic and mechanical system and interactions between the bucket and the soil;

Verification of the mathematical model on the test stand;

Development, application and tests of the new control algorithms for automatization of the excavation;

Optimization of the tool path in the excavation according to the criteria: minimum force and maximum performance;

Development and tests of the computer-aided job planner for the excavator;

Concept of the new distributed onboard computer system considering the operator interface, diagnostic system of machine, wireless communication of the master computer with the job planner, automatization of the excavation, data collection for the scientific research program and evaluation of job quality by the master system, redundancy in onboard computer system.