摘要
以实现挖掘机的智能化、工作装置的自动轨迹控制为目的,提出了一种基于能耗最小的挖掘轨迹规划方法.通过研究挖掘机铲斗与物料相互作用过程中的阻力特性,并综合考虑物料的重力、铲斗与物料间的摩擦力、挖掘速度以及铲斗两侧物料对挖掘阻力的影响,构建了一种适用于大型矿用挖掘机的动态挖掘阻力预测模型.运用提出的挖掘阻力预测模型,从多种不同堆角的料堆出发,以挖掘单位质量物料的能耗最小为目标函数,在综合考虑结构和性能约束的基础上建立了优化模型,并应用于WK-55挖掘机的控制参数优化,得到了挖掘不同堆角的料堆时的最优挖掘参数.结果表明:对于任意堆角的料堆都有最优挖掘参数可以在保证挖掘效率的前提下使挖掘机以最小能耗进行挖掘作业,为智能挖掘机的研发提供了理论参考.
In order to realize the intelligent excavation and the automatic trajectory control of the excavator,an energy minimization based optimization method for the excavating trajectory of the excavator is proposed.The excavating resistance acting on the dipper while excavating the materials is studied.Besides,the gravity of the ore,the friction between the dipper and ore,the relative excavating speeds and the flanks of the dipper are all taken into account to establish a new dynamic prediction model for the excavating resistance of big miner excavator.By the newly built prediction model of the excavating resistance and taking different pile angles into account,the energy minimization based trajectory optimization model is built.This optimization takes both the structure and performance into consideration by setting the objective function to minimize the energy consumption per unit mass of the whole excavating process.WK-55 excavator is selected as a case study and the optimal excavating parameters with respect to different pile angles are obtained.Results show that the optimal excavating parameters can be always obtained to ensure the energy-minimum excavation by meeting the requirement of the excavating efficiency under different pile angles,which provides theoretical reference for the research and development of intelligent excavators.
作者
孙伟
李二洋
王晓邦
郭正刚
李旭东
宋学官
SUN Wei;LI Eryang;WANG Xiaobang;GUO Zhenggang;LI Xudong;SONG Xueguan(School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)
出处
《大连理工大学学报》
EI
CAS
CSCD
北大核心
2018年第3期246-253,共8页
Journal of Dalian University of Technology
基金
国家基金委-辽宁省联合基金资助项目(U1608256
51505061)
关键词
智能挖掘机
挖掘阻力
能耗
intelligent excavator
excavating resistance
energy consumption
