智能挖掘机直线挖掘作业的运动规划与控制研究  

Study on Motion Planning and Control of Intelligent Excavator in Linear Excavation

作　　者：张维刚[1] 杨光 周维 彭晓燕[1] ZHANG Weigang;YANG Guang;ZHOU Wei;PENG Xiaoyan(College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China)

机构地区：[1]湖南大学机械与运载工程学院,湖南长沙410082

出　　处：《湖南大学学报（自然科学版）》2023年第6期70-79,共10页Journal of Hunan University:Natural Sciences

基　　金：湖南省自然科学基金面上资助项目(2022JJ30158);青岛国际院士港资助项目(H202091390006)。

摘　　要：针对挖掘机在开挖沟槽与坡面平整作业时通常需要用到直线挖掘,并且具有高精度作业需求,提出一种多关节协同的运动规划与控制策略.建立挖掘机工作装置的运动学模型,根据铲斗齿尖直线运动轨迹进行逆运动学求解得到各关节的运动轨迹,并根据斗杆和铲斗的预测角度值,随动规划动臂目标角度.利用递推最小二乘法对挖掘机各关节动力学模型参数在线辨识,实时预测延迟时间内关节角度的变化来补偿系统延迟特性所导致的跟踪控制误差.对现有挖掘机进行智能化改造,搭建AMESim的工作装置模型,基于实验数据修正液压系统模型参数及挖掘机模型,并在Simulink中建立控制模型与AMESim的挖掘机模型进行联合仿真测试,验证控制算法的可靠性.仿真结果表明,与传统PID控制策略相比,基于关节协同控制的策略在直线挖掘铲斗轨迹控制中具有更好的性能.The excavator usually needs to use linear excavation when excavating trenches and leveling slopes,and it requires a high-precision operation.This paper proposes a multi-joint motion planning and control strategy to realize high-precision linear mining operations.Firstly,the kinematic model of the excavator working device was established,the kinematic trajectory of each joint was obtained by inverse kinematic solution according to the linear motion trajectory of the bucket tooth tip,and the target angle of the boom was planned again according to the predicted angle of stick and bucket.The dynamic model parameters of each joint of the excavator online were identified by using recursive least squares,and the variation of joint angle in the delay time was predicted in real time to compensate for the tracking control errors caused by the system delay characteristics.Finally,the existing excavator was transformed into an intelligent excavator and the working device model of AMESim was built.The hydraulic system model parameters and excavator models are modified based on experimental data,and the control model is established in Simulink and the excavator model of AMESim is co-simulated to verify the reliability of the control algorithm.The simulation results show that,compared with the traditional PID control strategy,the strategy based on joint cooperative control has better performance in the trajectory control of linear excavating buckets.

关 键 词：系统辨识 预测控制系统 位置跟踪 运动规划 挖掘机 

分 类 号：TU621[建筑科学—建筑技术科学]