动态协同算法在挖掘机器人控制的优化研究  

Optimization of Dynamic Cooperative Algorithm in the Control of Mining Robot

作　　者：李维宇 王玉璟[2] LI Wei-yu;WANG Yu-jing(He’nan Light Industry Vocational College,He’nan Zhengzhou 450000,China;School of Computer and Information Engineering,He’nan University,He’nan Kaifeng 475004,China)

机构地区：[1]河南轻工职业学院,河南郑州450000 [2]河南大学计算机与信息工程学院,河南开封475004

出　　处：《机械设计与制造》2024年第6期331-337,共7页Machinery Design & Manufacture

基　　金：河南省科学技术厅高新技术领域科技攻关项目(202102210153):基于边缘计算的车联网安全技术研究与应用。

摘　　要：针对矿用挖掘机器人的控制耦合特性,提出了动态协同优化控制算法。首先,将机器人的设计优化系统解耦到水平/垂直运动空间中,以减弱各液压回路之间的强耦合关系,将空间姿态系数引入水平/垂直运动空间的主/辅反馈控制回路,在各控制回路之间弱耦合的前提下,获得各液压回路的精确动态控制信号,最终实现了机器人整体系统的最优控制。最后,通过实验和仿真验证了所提出的动态协同优化控制算法的有效性,机器人空间姿态控制中具有较优的瞬态调节性能和稳定性。According to the control coupling characteristics of mining robot,a dynamic cooperative optimization control algo-rithm is proposed.Firstly,the design optimization system of the robot is decoupled into the horizontal/vertical motion space to weaken the strong coupling relationship between the hydraulic circuits.The spatial attitude coefficient is introduced into the main/auxiliary feedback control circuits in the horizontal/vertical motion space.With the weak coupling between the control circuits,the accurate dynamic control signals of each hydraulic circuit are obtained,and finally the optimal control of the overall robot sys-tem is realized.Finally,the effectiveness of the proposed dynamic cooperative optimization control algorithm is verified by experi-ments and simulations.The robot has better transient adjustment performance and stability in space attitude control.

关 键 词：挖掘机器人 动态协同优化 空间姿态系数 控制算法 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]