Fuzzy control system and method for hydraulic backhoe or like excavator

摘要

A system for controlling the cutting operation of a hydraulic backhoe having a bucket pivotally joined to one end of an arm, the other end of which is pivotally joined to one end of a boom having another end pivotally supported on a self propelled vehicle. Hydraulic jacks are provided for pivoting the boom relative to the vehicle, the arm relative to the boom, and the bucket relative to the arm. During each cutting operation the actual bucket speed relative to the arm and the actual arm speed relative to the boom are sensed and referred to a set of fuzzy control rules for obtaining command values for controlling the boom, arm and bucket jacks. The fuzzy control rules are so determined and utilized as to enable the machine to automatically take a cut in a manner suiting the hardness or other characteristics of the soil.