基于模型预测控制的液压挖掘机回转控制系统  

Rotary control system of hydraulic excavator based on model predictive control

作　　者：祝捷 金忠 苏宾 ZHU Jie;JIN Zhong;SU Bin

机构地区：[1]广西柳工机械股份有限公司智能产品与应用研究院,广西柳州545000

出　　处：《现代机械》2025年第1期30-34,共5页Modern Machinery

摘　　要：虽然PID控制算法易于实现且不需要建立数学模型,但是难以保证机构具有良好的动态和静态性能。对于不同的机器,PID参数需要重新标定,而且液压挖掘机系统模型结构复杂,耦合性较强,PID控制效果不太理想。为了提高无人挖掘机的自动控制精度,采用模型预测控制算法来设计跟踪控制器。以回转平台机构作为研究对象,建立回转平台的动力学方程,以泰勒级数展开方法对动力学方程解耦合,建立线性化的状态方程,并搭建模型预测控制的跟踪控制器,实现挖掘机回转平台的自动控制。采用的控制算法,将挖掘机回转的一些复杂的非线性问题转化为线性问题,简化了预测控制模型,且经过验证,该控制算法具有较高的控制精度。Although the PID control algorithm is easy to implement and does not require the establishment of a mathematical model,it cannot ensure that the mechanism has good dynamic and static performance.For different machines,PID parameters need to be recalibrated,and the hydraulic excavator system model has complex structure and strong coupling,making the PID control effect not ideal.In order to improve the automatic control accuracy of unmanned excavators,we adopt model predictive control algorithm to design a tracking controller.We take the rotary platform mechanism as the research object,establish the dynamic equation of the rotary platform,decouple the dynamic equation using Taylor series expansion method,establish a linearized state equation,and build a tracking controller based on model predictive control to achieve automatic control of the excavator rotary platform.This control algorithm transforms some complex nonlinear problems of excavator rotation into linear problems,simplifies the predictive control model,and has been verified to have high control accuracy.

关 键 词：液压挖掘机 模型预测控制 回转平台 

分 类 号：TH137[机械工程—机械制造及自动化]