中国机械工程2026，Vol.37Issue(8)：1811-1823,13.DOI:10.3969/j.issn.1004-132X.2026.08.001
基于时变引导向量场的阀口独立液压挖掘机路径跟踪控制
Time-varying Guidance Vector Field-based Path Following Control for Hydraulic Excavators with Independent Metering
摘要
Abstract
It is difficult for hydraulic excavators to achieve high-precision path tracking in complex dy-namic environments,a hierarchical control architecture was proposed based on time-varying GVF.Firstly,the normalized time-varying guidance vector field was constructed as the upper planner,and the conver-gence term was designed based on the Euclidean distance function to drive the system to converge to the pa-rameterized target path globally.Then a dynamic feedforward compensation term was introduced,and the null space projection mechanism was used to eliminate the influences of time-varying path geometric defor-mation on the tracking performance of the manipulator,so as to ensure the dynamic tracking ability to the target path.In addition,the ultimate boundedness of the system under model uncertainty and external dis-turbance was proved by Lyapunov stability theory,and the quantitative relationship between disturbance in-tensity and tip trajectory deviation was derived.Furthermore,a singularity avoidance mechanism was pro-posed to ensure the uniqueness and continuity of the global workspace solution of the vector field corre-sponding to the tip trajectory of the excavators.For the independent hydraulic system of the valve port,the lower controller designed a coordinated control strategy of oil inlet flow and oil return pressure to achieve high-precision tracking of the output commands of the planner and improve the energy efficiency of the sys-tems.Finally,the effectiveness of the algorithm was verified by simulation.关键词
引导向量场/时变路径跟踪/阀口独立/流量/压力控制Key words
guide vector field(GVF)/time-varying path tracking/independent metering/flow/pres-sure control分类
信息技术与安全科学引用本文复制引用
姜宏达,陈俊翔,艾超,孔祥东..基于时变引导向量场的阀口独立液压挖掘机路径跟踪控制[J].中国机械工程,2026,37(8):1811-1823,13.基金项目
国家自然科学基金(52475073) （52475073）
广西科技计划(桂科AB24010205) （桂科AB24010205）
燕山大学标志性专项培育项目(2022BZZD001) （2022BZZD001）
