关于挖掘机轨迹规划控制系统设计研究  

Research on Design of Excavator Trajectory Planning Control System

作　　者：郭晓光 李捷[1] 郭子阳 GUO Xiao-guang;LI Jie;GUO Zi-yang(College of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China)

机构地区：[1]太原科技大学,山西太原030024

出　　处：《计算机仿真》2018年第11期277-280,323,共5页Computer Simulation

摘　　要：研究设计了双层结构的挖掘机控制系统,可实现挖掘机智能化自主挖掘,由于挖掘机在实际工作过程中的运动状态比较复杂多变,且工作参数具有非线性特点,故采用了有限状态机思想和模糊逻辑的思想,通过Matlab中的stateflow(状态流)和Fuzzy Logic(模糊逻辑)工具箱对挖掘机轨迹规划控制系统进行了设计,且进行了半实物仿真。在仿真中,实现了挖掘机模型的自主化挖掘,在挖掘过程中控制系统可识别挖掘机的过载行为,并且根据不同的工况选择合适的挖掘力进行挖掘。该系统计算量小,响应快,鲁棒性好,可以可靠的适用在挖掘机上。In the paper, an excavator control system with double structure is designed, which can realize intelli- gent excavation of the excavator. The excavator is more complicated and difficult in the actual working process, and the working parameters has nonlinear characteristics, so we used the idea of finite state machine and fuzzy logic. Using the stateflow and fuzzy logic toolbox, the excavator trajectory planning control system was designed, and a semi-phys- ical simulation experiment was carried out. The simulation experiment finally realized the intelligent autonomous exca- vation of the excavator, and the excavator can identify the overload behavior in the excavating, and choose the appro- priate digging force under different working conditions. The system has the advantages of small amount of calculation, fast response and good robustness. It can be applied to excavators reliably.

关 键 词：挖掘机 轨迹规划 有限状态机 逻辑模糊 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]