A straight-line motion tracking control of hydraulic excavator system

Vic_Hao

于 2019-03-14 20:30:43 发布

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本文探讨了针对13吨液压挖掘机直线运动的精确控制方法。在0.5m/s的桶速下，研究如何应对广泛关节运动范围内的非线性、机械参数变化及地面接触扰动。文章将挖掘机分为操纵器和执行器两部分，分别讨论了非线性力、惯性和重力控制以及执行器非线性特性如阀特性和滞后时间等问题。

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Goal

The resulting control law has been applied to straight-line motions of a 13 ton hydraulic excavator with a bucket speed of 0.5 m/s, a speed level at which skilful operators work.

Challenge

Straight line motion requires broad ranges of joint motions, it tends to induce various nonlinearities in hydraulic actuators, parameter variations in mechanical structures, and disturbances due to the contact with the ground.

divide the excavator into two parts: manipulator and actuator part.

For the manipulation part we should be able to control nolinear forces of inertia and gravitation over broad ranges of joint variables.

For the actuator part, nonlinearities due to valve characteristics, ̄flow coupling, deadband, and time-lag.