农业机械学报2012，Vol.43Issue(12)：39-43,113,6.DOI:10.6041/j.issn.1000-1298.2012.12.008
挖掘机工作装置复杂轨迹跟踪实验
Experiment of Complex Path Tracking for Excavator Working Unit
摘要
Abstract
In order to control excavator automatically, an excavator was retrofitted with electro-hydraulic proportional control systems. Kinematic models for excavator' s mechanism and nonlinear model for its electro-hydraulic system was established respectively. The dead-band and asymmetry nonlinearities of the electro-hydraulic system which was deduced in the theory models was demonstrated by experiments. To satisfy ground-leveling task, a 5-order polynomial was used for path generation in Cartesian space, and the joint-space path was calculated by kinematic models. According to the dead-band and asymmetry nonlinearities of control system, a segment PID controller with dead-band compensation was designed. Comparison experiments demonstrated that segment PID overcame the majority nonlinearities effectively. It had better tracking performance than conventional PID. In conclusion, complex path tracking was achieved by coordinated control of the three working arms.关键词
挖掘机/工作装置/复杂轨迹/跟踪/实验Key words
Excavator/ Working unit/ Complex path/ Tracking/ Experiment分类
信息技术与安全科学引用本文复制引用
黎波,严骏,郭刚,唐建,张梅军..挖掘机工作装置复杂轨迹跟踪实验[J].农业机械学报,2012,43(12):39-43,113,6.基金项目
国家自然科学基金资助项目(51175511) （51175511）
