Development and realization of bucket wheel excavator knowledge-based neuro-fuzzy control system

Development of a new control system, which significantly increases excavating capacity, as well as availability, and reliability of the bucket wheel excavator, is presented in this paper. Reference of slewing speed and controller parameters are adapted by predicting cutting resistance of materials to be excavated. The predictive-adaptive higher-level control system is realized as a neuro-fuzzy controller. The fuzzy rules for defining cutting resistance and its correlation with operating conditions, as well as the structure of the new control system are based on expert knowledge and numerous experiments.