基于计算力矩法的装载机工作装置轨迹控制  

Trajectory-following Control for Manipulator of Wheel Loaders Based on Computed Torque

作　　者：龚捷[1] 鲍金锋[1] 衣冠超[1] 崔玉鑫[1] 

机构地区：[1]吉林大学机械科学与工程学院,长春130022

出　　处：《机械工程学报》2010年第13期141-146,共6页Journal of Mechanical Engineering

基　　金：吉林大学青年教师基金资助项目

摘　　要：为了实现装载机工作装置铲掘作业时的轨迹跟踪控制,建立装载机工作装置的运动学及动力学模型,采用计算力矩法设计装载机铲掘作业的轨迹跟踪控制器,并根据装载机工作装置在作业时的受力情况加入作业阻力补偿。在Matlab/Simulink环境下建立装载机工作装置运动学、动力学模型及具有作业阻力补偿的计算力矩法控制器模型,并将在Solidworks环境中建立的ZL50装载机三维模型导入ADAMS。经ADAMS-Matlab联合仿真的结果表明,具有作业阻力补偿的计算力矩法可以实现装载机工作装置铲掘作业时所期望轨迹的高精度的跟踪控制。To complete trajectory-following control for a manipulator of wheel loaders in a digging process,the kinematics and dynamics models of the manipulator of wheel loaders are built.The trajectory-following controller considering resistance compensation is designed by using computed-torque approach.The kinematics and dynamics models of the manipulator and the controller model are built under Matlab/Simulink environment.The three-dimensional model of ZL50 loader built under Solidworks environment is imported into ADAMS.The results of ADAMS-Matlab co-simulation,show that this control approach can achieve high accuracy in trajectory-following control for a manipulator of wheel loaders.

关 键 词：装载机 工作装置 动力学 计算力矩法 轨迹跟踪 ADAMS-Matlab联合仿真 

分 类 号：TH243[机械工程—机械制造及自动化]