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| 新型智能挖掘机自动轨迹控制研究 | |
| 引用本文： | 贺继林,赵鑫,张大庆,宋军.新型智能挖掘机自动轨迹控制研究[J].广西大学学报(自然科学版),2012,37(2):259-265. |
| 作者姓名： | 贺继林 赵鑫 张大庆 宋军 |
| 作者单位： | 1. 中南大学高性能复杂制造国家重点实验室,湖南长沙410083;山河智能装备股份有限公司,湖南长沙4101001 2. 中南大学高性能复杂制造国家重点实验室,湖南长沙,410083 3. 山河智能装备股份有限公司,湖南长沙,4101001 |
| 摘 要： | 为了使挖掘机能实现良好的轨迹规划与控制精度,具备良好的操作平稳性,建立了智能挖掘机工作装置运动学和动力学模型,并编制模型的Matlab程序,克服多变量、强耦合及负载扰动对于轨迹控制的影响,同时运用小脑模型神经网络(CMAC)的控制方法,逼近工作装置动力学模型,很好的解决自动轨迹控制的问题.结果表明,运用该控制方法得到了良好的控制效果,控制精度达到20mm之内,满足轨迹控制的要求,所以基于CMAC的控制策略方法可以实现对挖掘机实时准确的控制. |
| 关 键 词： | 工程机械 挖掘机 轨迹控制 小脑模型神经网络(CMAC)控制 动力学 |
Trajectory control of new intelligent excavator |
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| HE Ji-lin , ZHAO Xin , ZHANG Da-qing , SONG Jun.Trajectory control of new intelligent excavator[J].Journal of Guangxi University(Natural Science Edition),2012,37(2):259-265. | |
| Authors: | HE Ji-lin ZHAO Xin ZHANG Da-qing SONG Jun |
| Institution: | 1(1.State Key Laboratory of High-performance Complex Manufacturing,Central South University, Changsha 410083,China;2.Sunward Intelligent Equipment Co.,Ltd,Changsha 410100,China) |
| Abstract: | To solve accurate trajectory planning and control problem of the intelligent excavator with good manipulating stability,the kinematic and dynamic models were proposed based on the excavator arm.By programming Matlab codes,overcoming the influences of coupling,multi parameter and disturbances of load,the Cerebellar Model Articulation Controller(CMAC) neural network is presented,which could approximate the dynamic model of excavator arm and get more effective results in trajectory control.The experimental results demonstrate that the proposed controllers have better control performance in simulation of trajectory,and the CMAC control strategy can achieve the real-time and accurate control of the excavator. |
| Keywords: | construction machinery excavator trajectory control Cerebellar Model Articulation Controller(CMAC) control dynamics |
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