步行式挖掘机方向纠偏控制参数多目标优化方法  

Multi-objective Optimization Method for Solving Control Parameters of Direction Correction of Walking Mobile Excavator

作　　者：韩军 张帅 杨小强 刘小林 陈高杰 刘津 HAN Jun;ZHANG Shuai;YANG Xiaoqiang;LIU Xiaolin;CHEN Gaojie;LIU Jin(Army Academy of PLA,Wuxi 214035,China;Training Base,Army Engineering University of PLA,Xuzhou 220014,China;College of Field Engineering,Army Engineering University of PLA,Nanjing 210007,China)

机构地区：[1]陆军研究院,江苏无锡214035 [2]陆军工程大学训练基地,江苏徐州220014 [3]陆军工程大学野战工程学院,江苏南京210007

出　　处：《陆军工程大学学报》2023年第1期28-35,共8页Journal of Army Engineering University of PLA

基　　金：军内科研项目(30106010204)。

摘　　要：针对步行式挖掘机自行上运输车过程中,实现一次方向纠偏控制参数的求解问题,建立了步行式挖掘机方向纠偏时的运动学微分方程,构造了一种求解方向纠偏控制参数多目标优化模型,用两级优化模型对纠偏控制参数进行求解。第一级优化模型利用信赖域法对一阶微分方程进行求解,得到步行式挖掘机方向纠偏过程中的运动参数;第二级优化模型用序列二次规划法对多目标优化模型求解,得到不同接近角情况下一次纠偏控制优化参数。利用仿真分析对第一级优化模型进行了验证。研究表明,建立的步行式挖掘机纠偏模型正确,当接近角小于25°时,步行式挖掘机可实现一次方向纠偏,所提出的两级优化模型控制参数求解方法可为步行式挖掘机无人化纠偏提供理论依据。Aiming at the problem of determining the control parameters of direction correction to achieve success on the first adjustment in the climb-up process of the walking mobile excavator onto the truck by itself,the kinematic differential equation of direction correction mechanism for the walking mobile excavator was established,and a multi-objective optimization model for solving the control parameters of direction correction was constructed.Furthermore,the bi-level optimization model was employed to solve the optimization model.At the first level,the first-order differential equation was solved by the trust region method and the motion parameters in the course of direction correction for the walking mobile excavator are obtained.At the second level,the multi-objective optimization model was solved by sequential quadratic programming method,and the optimal parameters of successful direction adjustment at different approach angles were obtained.The first level optimization model was verified by simulation analysis.The research shows that the model for direction correction of the walking mobile excavator is correct.When the approach angle is less than 25°,the walking mobile excavator can be directionally corrected with one operation.The proposed method of bi-level optimization model for control parameters solution can provide a theoretical basis for unmanned direction correction of the walking mobile excavator.

关 键 词：步行式挖掘机 无人化控制 方向纠偏 控制参数 两级优化模型 多目标优化 

分 类 号：TH113[机械工程—机械设计及理论] O22[理学—运筹学与控制论]