摘要
分析了挖掘机器人自动控制的研究现状,给出了试验机器人的电液系统原理示意图,根据试验机负载独立流量分配(LUDV)系统的工作原理推导出了试验机整机的数学模型.通过试验与理论相结合的方法对电液比例模型进行合理的简化,得出了自适应控制器的参考模型;然后采用寻找局部参数最优的方法完成了自适应控制器的设计;最后以山河智能SWE17E为基础搭建了试验平台.试验结果表明:采用经典PID算法与设计的控制器得到工作臂最大倾角跟踪误差分别为13.8%和6.8%,说明设计的控制器一定程度上提高了控制精度,而且稳态响应速度也有较明显的提高,表明整个系统具有较好的稳定性和鲁棒性.
The electro-hydraulic system schematic of test robot was introduced in this paper after analysing the current domestic and international research status about automatic control of mining robot, the model of electro-hydraulic system was derived according to the principle of load independent flow distribution system.On the base of the above and results of experiments,the model was simplified, and the reference model for control was given.An adaptive controller(AC)and the adaptive control law were developed from the local parameter optimum.On the basis of SWE17Eof SUNWARD,the test platform was built.The experimental results show that the tracking error of the angle by using the conventional PID(proportion integration differentiation)controller is bigger than 13.8%,but it is within 6.8% by using the controller designed in the paper.The precision of controller has improved, and the steady state response speed has obviously improved,the whole system has good stability and robustness.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第S1期455-458,470,共5页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家科技支撑计划资助项目(2013BAF07B00)
关键词
挖掘机
电液比例系统
负载独立流量分配系统
轨迹跟踪
自适应控制
excavator
electro-hydraulic proportional system
load independent flow distribution(LUDV)system
trajectory tracing
adaptive control
