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A Real-Time Simulation System for Excavator Controller

Excerpt

In order to supply a reliable and low-cost method for testing excavator's controllers and evaluating the performance of strategies, an excavator real-time simulation system has been developed. The hardware-in-the-loop system, including dynamic model of the arms, dynamic model of the main hydraulic system and an 3D real-time display subsystem, is presented in this paper. The simulation results are also described at the end of the paper.

  • Abstract
  • Key Words
  • 1. Introduction
  • 2. System Architecture
  • 3. Dynamic Model for the Excavator's Arms
  • 4. Dynamic Model for the Excavator's Main Hydraulic System
  • 5. 3D Real-Time Display Platform Based on DirectX
  • 6. Conclusions and Acknowledge
  • References

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