张海涛, 何清华, 张新海, 黄志雄. 机器人液压挖掘机运动系统的建模与控制[J]. 机器人, 2005, 27(2): 113-117.
引用本文: 张海涛, 何清华, 张新海, 黄志雄. 机器人液压挖掘机运动系统的建模与控制[J]. 机器人, 2005, 27(2): 113-117.
ZHANG Hai-tao, HE Qing-hua, ZHANG Xin-hai, HUANG Zhi-xiong. Modeling and Control of the Motion System of a Hydraulic Robotic Excavator[J]. ROBOT, 2005, 27(2): 113-117.
Citation: ZHANG Hai-tao, HE Qing-hua, ZHANG Xin-hai, HUANG Zhi-xiong. Modeling and Control of the Motion System of a Hydraulic Robotic Excavator[J]. ROBOT, 2005, 27(2): 113-117.

机器人液压挖掘机运动系统的建模与控制

Modeling and Control of the Motion System of a Hydraulic Robotic Excavator

  • 摘要: 首先利用机器人运动学将铲斗的理想运动轨迹和各工作装置的目标转角序列联系起来,然后利用拉格朗日方程建立各工作装置的运动学模型,最后推导出LUDV液压驱动系统的电液模型,从而得到了挖掘机器人运动系统的完整模型.针对系统动力学的高非线性、参数的不确定性、外界干扰及比例方向阀的死区及非线性增益等特点,提出一种建立在自适应鲁棒控制基础上的非连续映射方法来处理运动系统并利用鲁棒反馈来消除近似误差.最后利用动臂控制试验来验证控制方法的正确性.

     

    Abstract: This paper connects the desired trajectory of the bucket with the objective angular series of the working mechanisms,and establishes the dynamic model of the mechanisms by using the Lagrange equation.The electro-hydraulic model of the LUDV hydraulic driving system is deduced,and the complete motion system model of the robotic excavator is obtained.According to the characteristics such as high nonlinearity of system dynamics,parameter uncertainties,external disturbance,the dead region and nonlinear gain coefficient of the proportional direction valve,this paper presents a discontinuous projection based on adaptive robust control to deal with motion system,the error is eliminated with robust feedback.Finally,the experiment of the boom motion control is presented to illustrate the feasibility of this method.

     

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