基于虚拟样机技术的挖掘机器人节能控制仿真研究  

Research on energy saving control simulation of digging robot based on virtual prototype technology

作　　者：刘静[1] 潘双夏[2] 

机构地区：[1]上海理工大学机械工程学院,上海200093 [2]浙江大学流体传动与控制国家重点实验室,浙江杭州310027

出　　处：《机械设计》2007年第10期15-18,共4页Journal of Machine Design

基　　金：国家"863"计划资助项目(2001AA422130);上海市高校选拔培养优秀青年教师科研专向基金资助项目(354103)

摘　　要：针对传统基于反复试验的挖掘机器人节能控制研究的缺点,提出了将虚拟样机技术应用于节能控制开发的方案。在分析典型节能控制模型的基础上,在挖掘机器人虚拟样机上对各种控制方式进行仿真试验,通过分析仿真结果得出各种控制方案的特性,据此进行实际节能控制的优选和参数调整,从而达到减少实际试验次数,提高控制精度和效果的目的。Aimed at the disadvantages of the traditional research on the energy saving control of digging robots based on repetition test, the scheme of letting the virtual prototype technology be applied to the energy saving control development was put forward. On the basis of analyzing the typical energy saving control model, the simulative test was carried out in various manner of control on the virtual prototype of digging robot. By means of analyzing the simulated result to obtain the characteristics of various controlling schemes and hereby to carrying out optimization and parametric adjustment on the practical energy saving control, thus reached the aim of reducing the practical times of experiment and enhancing the accuracy and effect of control.

关 键 词：挖掘机器人 虚拟样机 节能控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]