一种液压挖掘机最优能耗的轨迹规划方法  

A Trajectory Planning Method for Optimal Energy Consumption of the Hydraulic Excavator

作　　者：张韵悦 孙志毅[1] 孙前来[1] 王银[1] 杨江涛 Zhang Yunyue;Sun Zhiyi;Sun Qianlai;Wang Yin;Yang Jiangtao(School of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024

出　　处：《机械传动》2024年第3期147-154,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(61905172);山西省研究生创新项目(2021Y670)。

摘　　要：为了降低液压挖掘机的运动能量消耗,实现各关节的合理有效作业,提出了基于T型速度曲线的关节插值方法,以实现液压挖掘机最优能耗轨迹规划。该方法将各关节的速度设定为匀加速、匀速和匀减速的形式以保证液压挖掘机在作业过程中的平稳性,以关节角度、角速度和角加速度为约束条件,利用改进的自适应遗传算法优化求解各关节的匀加(减)速和匀速运动时间,获得了各关节最优运动曲线,实现了液压挖掘机最优能耗轨迹规划。对基于T型速度曲线的插值规划方法进行仿真实验,并在相同条件下与四次多项式插值结果进行了对比。结果表明,该方法规划的轨迹能耗低,避免了各关节产生不必要的运动,有效减少了摩擦损耗,使得挖掘机可平稳、低能耗地完成作业。In order to reduce the movement energy consumption of the hydraulic excavator and realize the reasonable and effective operation of each joint,a joint interpolation method based on a T-type velocity curve is proposed to realize the optimal energy consumption trajectory planning of the hydraulic excavator.In this meth-od,the speed of each joint is set as uniform acceleration,constant velocity,and uniform deceleration to ensure the stability of the hydraulic excavator in the operation process.Under the constraint conditions of the joint an-gle,angular velocity,and angular acceleration,the improved adaptive genetic algorithm is used to optimize the uniform acceleration(deceleration)and constant velocity motion time of each joint,obtain the optimal motion curve of each joint,and realize the optimal energy consumption trajectory planning of the hydraulic excavator.The interpolation programming method based on the T-type velocity curve is simulated and compared with the interpolation results of the quartic polynomial under the same conditions.The experimental results show that the trajectory planned by this method has low energy consumption,avoids unnecessary movement of each joint,ef-fectively reduces friction loss,and makes the excavator complete the operation smoothly and with low energy consumption.

关 键 词：液压挖掘机 T型速度曲线 轨迹规划 最优能耗 

分 类 号：TU621[建筑科学—建筑技术科学]