多关节液压臂架实时控制软件的设计与实现  

Design and implementation on real-time control software for hydraulic multi-joint booms

作　　者：胡敏 梁聪慧 郑庆华 李宇力 

机构地区：[1]中联重科股份有限公司,湖南长沙410013

出　　处：《中国工程机械学报》2013年第3期243-247,共5页Chinese Journal of Construction Machinery

摘　　要：针对工程机械产品中大型多关节液压机械臂对运动控制智能化的需求,设计并实现了基于RT-Linux的大型多关节液压机械臂实时控制系统软件.该软件基于先进的伪逆运动控制算法和轨迹优化算法,能够实现多关节臂架末端精确和平滑的运动控制、臂架一键展开收缩和运动轨迹记忆等功能,以及三维模型人机交互和参数的实时显示.测试结果表明,该软件具有较好的可靠性和实时性,易于操作,能够满足对大型多关节液压机械臂实时运动控制的需要.Owing to demands on intelligent motional control for large-scale multi-joint hydraulic booms in construction machinery, an RT-LinuxTM-based real-time control software, including pseudo-inverse motional control and track optimization algorithms, is designed and implemented. Accordingly, the functions,such as precise and smooth boom-end controlling, one-key boom opening and folding, motional track memorization,HCI 3D modeling and real-time parametric displaying, are implemented. From testing results, it is observed that the software, which possessed high reliability, real-time capability and ease of operation,can meet real-time-control demands upon large-scale hydraulic multi-joint booms.

关 键 词：多关节液压机械臂 逆运动学控制 实时控制系统 RT-LINUX 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]