人机共驾挖掘机高精度轨迹控制综合策略研究  

Research on Comprehensive Strategy of High-Precision Trajectory Control for Man-Machine Co-Driving Excavators

作　　者：刘晓强 梁明孔 周海琳 唐斌 黄虹溥 Liu Xiaoqiang;Liang Mingkong;Zhou Hailin

机构地区：[1]广西柳工机械股份有限公司

出　　处：《工程机械》2025年第2期29-34,I0003,共7页Construction Machinery and Equipment

基　　金：2024年广西重点研发计划《人机共驾挖掘机关键技术研究及应用》(桂科AB24010205)。

摘　　要：针对大吨位液压挖掘机因大惯量、非线性、响应延迟等特性,常规的半自动控制很难使作业面达到高精度要求的特点,以实现挖掘机在自动控制阶段达到高精度作业面要求为目标,引入人机共驾理念,粗糙作业时人员驾驶达到高效率,精细作业时机器驾驶达到高精度。基于D-H法和几何法建立动臂坐标系下工作装置的运动学模型,在全球坐标系下应用机器人控制理论研究毫米级和分段式轨迹规划,采用再生流量测定和对泵输出流量、阀流量分配进行精准控制,实现规划的轨迹和速度。建立Simulink模型并上机调试,将模型转成C代码写入柳工自研控制器。经验证,该控制器搭载在柳工某型22 t级全电控液压挖掘机上实现了高精度轨迹控制。Due to the characteristics of large tonnage hydraulic excavators such as large inertia,nonlinearity and response delay,conventional semi-automatic control is difficult to enable the working surface to meet high-precision requirements.With the goal of achieving high-precision working surface requirements in the automatic control stage of excavators,the concept of man-machine co-driving is introduced,so that the human driving achieves high efficiency during rough operation,and the machine driving achieves high precision during fine operation.Based on the D-H method and geometric method,a kinematic model of the equipment in the boom coordinate system is established,the robot control theory is applied to study millimeter-level and segmented trajectory planning in the global coordinate system,and regenerative flow determination and precise control of distribution of the pump outlet flow and valve flow are adopted to achieve the planned trajectory and speed.A Simulink model is established and debugged on the computer,and the model is converted into C code and written into LiuGong’s self-developed controller.It is verified that the controller is mounted on a LiuGong 22-t fully electronically controlled hydraulic excavator to achieve high-precision trajectory control.

关 键 词：高精度轨迹控制 人机共驾 液压挖掘机 轨迹规划 

分 类 号：TU621[建筑科学—建筑技术科学]