摘要
为了生成挖掘机系统虚拟仿真平台驱动信号,开发一种基于状态规则的虚拟驾驶员模型。以中型液压挖掘机为平台对其作业过程进行测试分析,构建基于典型作业工况的挖掘机通用操作规则,结合操作经验及执行机构状态特征进行单作业循环任务点设置。建立工作装置线性时不变系统模型和回转机构线性参变模型,建立模型预测控制算法,进一步构建基于任务协调控制器和模型预测控制器的虚拟驾驶员模型,通过任务标识和对最优控制问题的迭代求解,实现执行机构的轨迹跟随。将开发的驾驶员模型与挖掘机系统模型集成进行仿真。研究结果表明:该模型可较好地反映挖掘机实际作业特征,可为挖掘机设计开发及自动化作业提供重要支撑。
In order to generate the driving signal of the excavator system simulation platform,a virtual driver model based on state rules was developed.The working process of medium-sized hydraulic excavator was tested and analyzed,and the general operating rules of excavator based on typical working conditions were constructed,the task point of typical cycle was set up combined with the operation experience and the state characteristics of the actuator.The linear time invariant system model of the working device and the linear parametric model of the slewing mechanism were derived.Based on this,the model predictive control algorithm was established,and the excavator driver model based on the task coordination controller and the model predictive controller was constructed.Through the iterative solution of the task identification and the optimal control problem,the target following of the actuator was realized.The results show that the model can reflect the actual operation characteristics of excavator,and provide important support for the design and development of excavator and automatic operation.
作者
胡鹏
朱建新
刘昌盛
龚俊
张大庆
赵喻明
HU Peng;ZHU Jianxin;LIU Changsheng;GONG Jun;ZHANG Daqin;ZHAO Yuming(State Key Laboratory of High Performance Complicated,Central South University,Changsha 410083,China;R&D Center,Sunward Intelligent Equipment Co.Ltd.,Changsha 410100,China;Engineering Research Center of Advanced Mining Equipment Ministry of Education,Hunan University of Science and Technology,Xiangtan 411100,China)
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2021年第4期1118-1128,共11页
Journal of Central South University:Science and Technology
基金
国家科技支撑计划项目(2014BAA04B01)
湖南省战略新兴产业科技攻关与成果转化项目(2019GK4014)。
关键词
液压挖掘机
操作规则
驾驶员模型
预测控制
仿真分析
hydraulic excavator
operating rules
driver model
predictive control
simulation analysis
