基于常态挖掘路径的液压挖掘机轨迹规划方法  

Trajectory planning method for hydraulic excavator based on normal digging path

作　　者：冯明豪 任志贵[1,2] 魏万行 孙浩然 李佳豪 FENG Minghao;REN Zhigui;WEI Wanxing;SUNHaoran;LI Jiahao(School of Mechanical Engineering,Shaanxi University of Technology,Hanzhong 723000,Shaanxi,China;Shaanxi Key Laboratory of Industrial Automation,Hanzhong 723000,Shaanxi,China)

机构地区：[1]陕西理工大学机械工程学院,陕西汉中723000 [2]陕西省工业自动化重点实验室,陕西汉中723000

出　　处：《矿山机械》2021年第10期16-21,共6页Mining & Processing Equipment

基　　金：国家自然科学基金资助项目(51605270);陕西省科技厅自然科学基金(2020JM-600);陕西省重点研发计划基金资助项目(2019TSLGY02-03);陕西省技术创新引导专项基金(2021QFY05-03)。

摘　　要：针对真实挖掘路径的轨迹规划问题,提出了一种在常态挖掘路径下的轨迹规划方法,以挖掘机 3 组液压缸长度变化量最小化为优化目标,将铲斗姿态角作为设计变量,在挖掘机几何约束和位置盲角约束条件下,采用粒子群优化算法寻找姿态角的最优值。由经验法、MATLAB 优化工具箱和粒子群优化算法计算得到了液压缸长度变化量,又通过试验得到了真实的路径数据,对比了采用 2 种优化方法和试验得出的液压缸长度变化量,验证了所提出方法的有效性。研究结果表明:使用粒子群优化算法对复合挖掘路径进行轨迹规划,得到的各关节角位移、角速度变化曲线平滑连续,角加速度变化曲线连续,且能够有效减少液压缸长度变化量和变向点数量,降低能耗。In view of the trajectory planning of real digging path of the hydraulic excavator,a kind of trajectory planning method based on normal digging path was proposed.In the method,the minimum length variation of three hydraulic cylinders served as the optimization goal,the posture angle of the bucket was taken as the design variable,PSO (Particle Swarm Optimization) algorithm was applied to identify the optimal posture angle under the geometric constraint and the positional blind angle constraint of the hydraulic excavator.The length variation of the hydraulic cylinders was individually obtained with empirical method,MATLAB optimization toolbox and PSO algorithm,and real path data were obtained via test.The comparison of the length variation individually obtained with the two optimization methods and the test verified the effectiveness of the proposed method.Research results showed:while PSO algorithm being applied to plan the trajectory of compound digging path,the obtained variation curves of angular displacement and velocity of each joint were smooth and continuous,the variation curves of angular acceleration were continuous;both the length variation and the number of the direction altering point of the hydraulic cylinder effectively reduced,thus the energy consumption decreased.

关 键 词：液压挖掘机 轨迹规划 液压缸长度变化量 粒子群优化算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]