摘要
针对矿用挖掘机器人的控制耦合特性,提出了动态协同优化控制算法。首先,将机器人的设计优化系统解耦到水平/垂直运动空间中,以减弱各液压回路之间的强耦合关系,将空间姿态系数引入水平/垂直运动空间的主/辅反馈控制回路,在各控制回路之间弱耦合的前提下,获得各液压回路的精确动态控制信号,最终实现了机器人整体系统的最优控制。最后,通过实验和仿真验证了所提出的动态协同优化控制算法的有效性,机器人空间姿态控制中具有较优的瞬态调节性能和稳定性。
According to the control coupling characteristics of mining robot,a dynamic cooperative optimization control algo-rithm is proposed.Firstly,the design optimization system of the robot is decoupled into the horizontal/vertical motion space to weaken the strong coupling relationship between the hydraulic circuits.The spatial attitude coefficient is introduced into the main/auxiliary feedback control circuits in the horizontal/vertical motion space.With the weak coupling between the control circuits,the accurate dynamic control signals of each hydraulic circuit are obtained,and finally the optimal control of the overall robot sys-tem is realized.Finally,the effectiveness of the proposed dynamic cooperative optimization control algorithm is verified by experi-ments and simulations.The robot has better transient adjustment performance and stability in space attitude control.
作者
李维宇
王玉璟
LI Wei-yu;WANG Yu-jing(He’nan Light Industry Vocational College,He’nan Zhengzhou 450000,China;School of Computer and Information Engineering,He’nan University,He’nan Kaifeng 475004,China)
出处
《机械设计与制造》
北大核心
2024年第6期331-337,共7页
Machinery Design & Manufacture
基金
河南省科学技术厅高新技术领域科技攻关项目(202102210153):基于边缘计算的车联网安全技术研究与应用。
关键词
挖掘机器人
动态协同优化
空间姿态系数
控制算法
Mining Robot
Dynamic Collaborative Optimization
Space Attitude Coefficient
Control Algorithm
