We propose a passivity-based control framework for the excavator with main control valve (MCV). We first derive mathematical model of a 4-way valve, then develop a passivity-based control rule using spool actuation forces as control inputs. The passiv...
We propose a passivity-based control framework for the excavator with main control valve (MCV). We first derive mathematical model of a 4-way valve, then develop a passivity-based control rule using spool actuation forces as control inputs. The passivity-based control is done in two steps: 1) MCV passifying control and 2) spool actuation control. First, the flow rate of each valve in MCV is decomposed into active flow source and a passive dissipation, and valve passifying control is presented based on this structure. Second, we present a spool actuation input to control the spool position to the desired value. In addition, we compensate the self-weight in order to make the passivity of the excavator less conservative. Finally, we propose a passivity-based auto-stop function of excavator when it collides with an underground obstacle.