基于迭代滑模的挖掘机工作装置控制策略  

Control strategy of excavator working device based on iterative sliding mode

作　　者：李捷[1] 王晓文 王毫旗 张贵喜 LI Jie;WANG Xiao-wen;WANG Hao-qi;ZHANG Gui-xi(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China;JunzeHuitong Technology Development Co.,Ltd.,Beijing 100010,China)

机构地区：[1]太原科技大学机械工程学院,山西太原030024 [2]君泽汇通科技发展有限公司,北京100010

出　　处：《机电工程》2022年第4期561-566,共6页Journal of Mechanical & Electrical Engineering

基　　金：山西省自然科学基金资助项目(201901D111245)。

摘　　要：由于挖掘机工作装置具有复杂强耦合非线性和时滞性的特点,并且其在工作过程中存在负载不确定的问题,导致挖掘机的作业效率低、机械磨损大。针对这一问题,采用了一种基于迭代学习控制与滑模控制相结合的控制策略,对挖掘机工作装置各关节轨迹的跟踪控制性能进行了研究。首先,利用拉格朗日力学法,建立了挖掘机工作装置的动力学模型;然后,推导定义了控制律,并利用Lyapunov理论验证了控制器的稳定性;最后,设计了迭代滑模控制器,以小松PC02-1挖掘机为平台,确定了其轨迹控制所需的变量,利用MATLAB对挖掘机工作装置的轨迹跟踪性能进行了数值仿真。研究结果表明:在面对外部扰动的情况下,该方法可有效地提高挖掘机工作装置各关节的跟踪速度与跟踪精度,同时可在一定程度上削弱传统滑模控制的抖振现象,系统的鲁棒性强;该结果表明,迭代学习控制与滑模控制相结合的控制方法具有较好的控制性能。The excavator working device had the characteristics of complex,strong coupling,nonlinearity and time lag,and there was also the problem of load uncertainty in the working process,resulting in low working efficiency of the excavator and large mechanical wear.Aiming at the problem,a control strategy combining iterative learning control and sliding mode control was adopted to study the tracking control performance of each joint trajectory of the excavator working device.First of all,the dynamic model of the working device of the excavator was established by using the Lagrangian method of mechanics.Then,the control law was deduced and defined,and the stability of the controller was verified by the Lyapunov theory.Finally,an iterative sliding mode controller was designed.Using the mini Komatsu excavator PC02-1 as a platform,the variables required for trajectory control were determined,and the trajectory tracking performance of the excavator working device was numerically simulated by MATLAB.The research results show that this method can effectively improve the tracking speed and tracking accuracy of each joint of the excavator working device in the face of external disturbances,and weaken the chattering phenomenon of traditional sliding mode control to a certain extent.The uncertainty of the system has strong robustness,which verifies that the proposed control method has better control performance.

关 键 词：液压挖掘机 轨迹跟踪 迭代学习控制 滑模控制 MATLAB 

分 类 号：TH24[机械工程—机械制造及自动化] TU621[建筑科学—建筑技术科学]