摘要
以装载机自主铲装作业为目标,对基于实时轨迹规划的铲装作业控制策略进行了研究。将铲装作业的一个循环分为插入、铲取、提升3个区间,并提出了各个区间的自主作业控制策略。3个区间中,铲取区间是整个作业循环的关键。在分析的基础上,提出了铲取区间水平等阻线的概念,并建立了基于水平等阻线的铲取区间控制策略。本文提出的控制策略具有良好的环境适应能力,为基于实时轨迹规划的自主铲装作业打下了基础。
The autonomous scooping control strategies of wheel loader based on on-line trajectory generation were studied. A scooping cycle of wheel loader was divided into three phases, called insertion, scoop-up and pull-out respectively, and the control strategy of each phase was suggested. The scoop-up was the key phase during a scooping cycle. In this phase, the concept of horizontal resistance isoline was developed, and the autonomous control strategy was established as moving the bucket follow it. The control strategies suggested here made the autonomous scooping possible.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2006年第10期46-49,共4页
Transactions of the Chinese Society for Agricultural Machinery
关键词
装载机
自主铲装作业
控制策略
水平等阻线
Wheel loader, Autonomous scooping, Control strategy, Horizontal resistance isoline
