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挖掘機(jī)工作裝置復(fù)雜軌跡跟蹤實(shí)驗(yàn)
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國家自然科學(xué)基金資助項(xiàng)目(51175511)


Experiment of Complex Path Tracking for Excavator Working Unit
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    摘要:

    為實(shí)現(xiàn)挖掘機(jī)自動(dòng)控制,,對(duì)其進(jìn)行了電液比例改造,。建立了挖掘機(jī)工作裝置的運(yùn)動(dòng)學(xué)模型及其電液控制系統(tǒng)的非線性模型,,并通過實(shí)驗(yàn)驗(yàn)證了機(jī)理建模中指出的電液控制系統(tǒng)死區(qū)及動(dòng)態(tài)特性不對(duì)稱非線性,。為滿足地面平整作業(yè),,采用五次多項(xiàng)式插值法在笛卡爾空間生成了斗桿末端軌跡,,并通過運(yùn)動(dòng)學(xué)模型獲得系統(tǒng)關(guān)節(jié)空間軌跡,。針對(duì)控制系統(tǒng)主要存在的死區(qū)和不對(duì)稱非線性,,設(shè)計(jì)了帶死區(qū)補(bǔ)償?shù)姆侄蜳ID控制器,,通過對(duì)比實(shí)驗(yàn),,證明了分段PID比常規(guī)PID控制精度高,能克服系統(tǒng)的主要非線性特性,。通過協(xié)調(diào)控制挖掘機(jī)工作裝置三關(guān)節(jié),,實(shí)現(xiàn)了一個(gè)復(fù)雜軌跡的有效跟蹤。

    Abstract:

    In order to control excavator automatically, an excavator was retrofitted with electro-hydraulic proportional control systems. Kinematic models for excavator’s mechanism and nonlinear model for its electro-hydraulic system was established respectively. The dead-band and asymmetry nonlinearities of the electro-hydraulic system which was deduced in the theory models was demonstrated by experiments. To satisfy ground-leveling task, a 5-order polynomial was used for path generation in Cartesian space, and the joint-space path was calculated by kinematic models. According to the dead-band and asymmetry nonlinearities of control system, a segment PID controller with dead-band compensation was designed. Comparison experiments demonstrated that segment PID overcame the majority nonlinearities effectively. It had better tracking performance than conventional PID. In conclusion, complex path tracking was achieved by coordinated control of the three working arms. 

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黎波,嚴(yán)駿,郭剛,唐建,張梅軍.挖掘機(jī)工作裝置復(fù)雜軌跡跟蹤實(shí)驗(yàn)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(12):39-43,113. Li Bo, Yan Jun, Guo Gang, Tang Jian, Zhang Meijun. Experiment of Complex Path Tracking for Excavator Working Unit[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(12):39-43,113.

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  • 在線發(fā)布日期: 2012-12-13
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