基于变论域模糊多参数自整定PID控制的智能挖掘机轨迹跟踪  

Trajectory Tracking of Intelligent Excavator Using Variable Universe Fuzzy Multi-parameter Self-tuning PID Control

作　　者：张新荣[1] 康龙 唐家朋 张军[1] ZHANG Xin-rong;KANG Long;TANG Jia-peng;ZHANG Jun(Key Laboratory of Road Construction Technology and Equipment of Ministry of Education,Chang'an University,Xi'an 710064,Shaanxi,China;Hechuang Smart Technology Corporation Limited,Guangzhou 511458,Guangdong,China)

机构地区：[1]长安大学道路施工技术与装备教育部重点实验室,陕西西安710064 [2]合创汽车科技有限公司,广东广州511458

出　　处：《中国公路学报》2023年第2期240-250,共11页China Journal of Highway and Transport

基　　金：陕西省重点研发计划国际科技合作计划项目(2019KW-015);中央高校基本科研业务费专项资金项目(300102259306)。

摘　　要：智能液压挖掘机多用于特殊环境下的无人操纵施工。在执行诸如直线刮平、斜坡整平和定点挖掘等特定挖掘任务时,对智能挖掘机工作装置铲斗齿尖的轨迹规划和轨迹跟踪提出了较高要求。为此,针对智能挖掘机运动的控制问题,提出一种基于变论域模糊多参数自整定PID(Variable Universe Fuzzy Multi-parameter Self-tuning PID,VUFMS-PID)的轨迹跟踪控制策略。首先,在关节空间中通过三次非均匀有理B样条(Non-uniform Rational B-Splines,NURBS)曲线插补法完成直线刮平和定点挖掘轨迹规划,并得到工作装置挖掘作业时各关节角、角速度、角加速度位置序列。然后,综合考虑挖掘机非线性、时变性等特点,基于变论域思想,提出一种基于VUFMS-PID的轨迹跟踪控制方法。最后,基于AMESim与MATLAB/Simulink联合仿真和硬件在环(Hardware-in-the-Loop,HiL)试验平台,对VUFMS-PID控制方法的有效性和先进性进行验证。研究结果表明:在铲斗齿尖运动过程中,规划轨迹平滑连续且变化幅值较小,规划轨迹与期望轨迹之间的误差较小;VUFMS-PID控制的响应速度和跟踪精度相较于传统PID控制与模糊PID控制有明显提升;在硬件在环试验分析中,提出的控制方法在跟踪直线刮平轨迹和定点挖掘轨迹时,能够将跟踪误差控制在20mm以内,实现对规划轨迹的精确跟踪。Intelligent hydraulic excavators are mostly used for unmanned construction in special environments.The trajectory planning and tracking of the bucket tip of intelligent excavator working devices must meet stringent requirements when performing specific excavation tasks,such as straight-line scraping,slope leveling,and fixed-point excavation.Therefore,this paper presents a trajectory tracking control strategy using variable universe fuzzy multi-parameter selftuning(VUFMS)-proportional-integral-derivative(PID)for the intelligent excavator movement control.First,the trajectory planning of straight-line scraping and fixed-point excavation was presented in a joint space by using the cubic non-uniform rational B-splines curve interpolation method.The position sequences of each joint angle,angular velocity,and angular acceleration during the excavation operation were obtained.Second,a VUFMS-PID trajectory tracking control method capable of handling nonlinear and time-varying systems was proposed based on the variable universe algorithm.Finally,the effectiveness of the VUFMS-PID control method was verified by using AMESim and MATLAB/Simulink joint simulations and the hardware-in-theloop(HiL)experiment platform.The results indicate that during the bucket tip motion,the planned trajectory is smooth and continuous within a small region and the error between the planned and desired trajectory is small.The VUFMS-PID control method yields good response speed and tracking accuracy,better than those produced by other methods such as conventional PID control and fuzzy PID control.In the analysis of the HiL experiment,the tracking error of the proposed control method remains confined within 20mm during the tracking of straight-line scraping and fixed-point excavation trajectory,whereas the tracking of planned trajectory is accurate.

关 键 词：机械工程 轨迹跟踪 变论域模糊PID控制 NURBS曲线 智能挖掘机 多参数自整定 

分 类 号：U415.511[交通运输工程—道路与铁道工程]