摘要
针对滑移装载机进行铲掘作业时的效率低和操作手的重复劳动强度大的问题,对滑移装载机进行半自动化改造。首先运用机器人学理论和拉格朗日法,推导出滑移装载机工作装置的运动模型,对铲掘轨迹进行规划。然后在原有系统中加入可快速切换的电液比例控制系统,并建立了工作装置电液系统的数学模型,设计出模糊自整定PID控制器。轨迹跟踪仿真结果表明:该套电液比例控制系统能有效地实现滑移装载机工作装置自动铲掘作业的运动跟踪。
Focusing on the problem of the inefficient and the strength of the duplication when the skid steer loader is working,Semi-automatic was used for the transformation of the skid steer loader.First,the kinematic and dynamic models of the operating device of the skid steer loader were established by using the theory of robotology and the Lagrangian method and a plan of excavating track was given.Then,the Electro-hydraulic proportional control system which can be quickly switched to the original system was designed,and the mathematical model of the electro-hydraulic drive system of working device was built and a fuzzy selfadjusting PID was designed in order to realize the precise control of slip track.The outcomes of the tracking simulation demonstrated that the motion tracking of skid steer loader attachments in automatic digging was achieved effectively by the electro-hydraulic proportion control system.
出处
《武汉理工大学学报》
CAS
CSCD
北大核心
2010年第23期107-110,115,共5页
Journal of Wuhan University of Technology
关键词
滑移装载机
轨迹规划
电液比例控制
模糊PID控制
仿真分析
skid steer loader
trajectory planning
electro-hydraulic proportional control
fuzzy PID control
simulation and analysis
