基于模糊控制算法的露天铁矿挖掘机控制研究  

Research on Control of Open-Pit Iron Mine Excavator Based on Fuzzy Control Algorithm

作　　者：赵圣奎 侯向泽 王波[2] ZHAO Shengkui;HOU Xiangze;WANG Bo(Lanxian Mining Co.,Ltd.,Taiyuan Iron and Steel Group,Lvliang,Shanxi 033500,China;China Telecom Xinzhou Branch,Xinzhou,Shanxi 034000,China)

机构地区：[1]太钢集团岚县矿业有限公司,山西吕梁033500 [2]中国电信忻州分公司,山西忻州034000

出　　处：《自动化应用》2024年第24期91-93,共3页Automation Application

摘　　要：露天铁矿的地质条件复杂,包括不同硬度的岩石、冻土、松软地面等,这些都对挖掘机的作业效率和安全性提出了挑战。因此,提出了基于模糊控制算法的露天铁矿挖掘机控制方法。提取露天铁矿挖掘机运动学特征,包括机身回转、动臂回转、斗杆回转、铲斗回转特征等,结合运动学特征分析挖掘机各转动关节的运动旋量。根据挖掘机的运动轨迹确定模糊变量并制定模糊控制规则,通过模糊化方法将模糊变量转换为控制信号,从而实现露天铁矿挖掘机的模糊控制。采用对比实验,验证了该方法的露天铁矿挖掘机控制效果更佳,实际应用效果好。The geological conditions of open-pit iron mines are complex,including rocks with different hardness,frozen soil,and soft ground,which pose challenges to the efficiency and safety of excavator operations.Therefore,a control method for open-pit iron mine excavators based on fuzzy control algorithm is proposed.Extract the kinematic characteristics of open-pit iron mine excavators,including body rotation,boom rotation,bucket rotation,etc.,and analyze the motion spinors of each rotating joint of the excavator based on the kinematic characteristics.Based on the movement trajectory of the excavator,fuzzy variables are determined and fuzzy control rules are formulated.The fuzzy variables are converted into control signals through fuzzification methods,thereby achieving fuzzy control of open-pit iron mine excavators.By conducting comparative experiments,it was verified that the control effect of this method on open-pit iron mine excavators is better and the actual application effect is better.

关 键 词：模糊控制算法 露天铁矿 挖掘机 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]