挖掘机器人精细作业的综合轨迹控制策略研究  

Comprehensive Trajectory Control Strategy for Fine Operation of Excavator Robot

作　　者：田应仲[1] 段正全 

机构地区：[1]上海大学机电工程与自动化学院,上海200444

出　　处：《工业控制计算机》2024年第1期33-35,39,共4页Industrial Control Computer

摘　　要：挖掘机在国民经济建设领域发挥着重要作用,挖掘机器人是一种对传统挖掘机经过机器人化改造后的智能装备。针对挖掘机控制系统非线性强、数学模型难以建立、精细作业轨迹精度要求高的问题,提出了一种基于变论域模糊PID控制与交叉耦合控制的综合轨迹控制策略。采用带死区补偿的变论域模糊PID控制进行单执行器跟踪控制,利用交叉耦合控制提高执行器末端轮廓精度。通过联合仿真模型对控制策略进行验证分析。仿真结果表明:对比PID、变论域模糊PID两种控制策略,所设计的控制策略在响应性和准确性方面均优于其他两种算法,验证了方法的有效性。Excavator robots are intelligent equipment that have undergone robotic transformation of traditional excavators.Aiming at the problems of strong nonlinearity of the excavator control system,difficult establishment of mathematical models,and high precision requirements of fine operation trajectory,this paper proposes a comprehensive trajectory control strategy based on variable universe fuzzy PID and cross-coupling control.The variable universe fuzzy PID control with dead zone compensation is used for single actuator tracking control,and the cross-coupling control is used to improve the contour accuracy of the actuator end.The control strategy is validated and analyzed through the co-simulation model.The simulation results show that:comparing the two control strategies of PID and variable universe fuzzy PID,the control strategy designed in this paper is better than the other two algorithms in terms of responsiveness and accuracy.

关 键 词：挖掘机器人 精细作业 变论域模糊PID 交叉耦合控制 联合仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程] TU621[建筑科学—建筑技术科学]