挖掘机作业过程土壤参数识别研究  

Research on Soil Parameter identification of Excavator Digging

作　　者：何清华[1,2] 唐学佳 赵喻明[1] 郑海华[1] 

机构地区：[1]中南大学机电工程学院,湖南长沙410083 [2]山河智能装备集团,湖南长沙410138

出　　处：《计算机仿真》2016年第2期361-366,共6页Computer Simulation

基　　金：智能化挖掘机关键共性技术研究及应用(2013BAF07B02)

摘　　要：研究智能挖掘机自主挖掘系统控制优化问题,由于控制系统的挖掘阻力识别涉及多个不同属性的参数,难以准确识别。为了提高挖掘机控制系统的动力性能。提出改进建立土壤基本模型,使之更符合动态变化环境下对土壤的描述,得到了挖掘阻力与土壤参数和挖掘机参数的对应关系。然后提出改进的牛顿迭代法和参数空间相交法,用多个角度给出了土壤参数的识别方法,实现了挖掘阻力的实时识别。仿真证明,给出的土壤参数识别方法误差很小,实证了土壤模型的科学性和准确性,为自主挖掘控制系统研究提供了强有力的理论和科学依据。The digging resistance problem for autonomous control system of intelligent excavator is studied. Due to the characteristics of digging resistance,such as too many different properties about soil,its estimation process is really hard to perform. However,the estimation of digging resistance is great meaningful for the dynamics model of autonomous control system. This paper firstly improves the soil basic model,so as to make it more adaptive with the dynamic environment during digging task. As a result,the relationship between soil parameters and excavator parameters is obtained. Based on this nonlinear model,a modified NRM and Parameter Space Intersection method is proposed,different ways to estimate the soil parameters are provided,and the digging resistance can be obtained. Simulation results show that our estimation method has a very small error. This proves the scientificity and accuracy of the model,and provides a powerful theory and experiment support for our autonomous control system.

关 键 词：智能挖掘机 挖掘阻力 土壤模型 参数识别 

分 类 号：TH124[机械工程—机械设计及理论]