Kinematic Analysis and Position Control of Motor Grader Blade Mechanism for Automatic Levelling1

Abstract

In this study, mechanism analysis, which is one of the necessary steps for automatic function control in construction machines, is emphasized. Motor grader construction machine has been chosen because there are a minimal number of studies in the literature. The blade mechanism of the motor grader has high degrees of freedom; it can perform various rotations and orientations in the XYZ axis. For this mechanism, which is very challenging to control and make kinematic analysis, functions that specify the motion behavior of the cutting-edge points are obtained using the polynomial surface fitting method. PI controllers were created for the MIMO system to reduce the existing steady-state error. Tests were performed for various scenarios on the actual machine, and the results were compared.