摘要
为适应移动机械的智能化作业和高质量作业的发展要求,提出了一种新型的挖掘机臂架位置控制策略。根据目标位置和操作速度,设计了预期的工作轨迹。利用所提出的策略,使动臂可以沿设计轨迹移动到目标位置,并保证定位精度。建立了控制策略的试验样机,并进行了相应的试验。实验结果表明:本研究工作对提高挖掘机臂架自动化作业效率和精度具有普遍意义。
In order to adapt to the intelligent operation of mobile machinery and the development of high quality operation,a new position control strategy of excavator boom is proposed.According to the target position and operation velocity,the expected operating trajectory is designed.With the proposed strategy,the boom can move to the target position along the design trajectory and ensure the position accuracy.Then a test prototype controlled by the control strategy is established,and relevant tests are carried out.The research work has universal significance to improve the automation operations efficiency and accuracy of excavator boom.
作者
陈正雄
张晓刚
师建鹏
熊晓燕
权龙
Zheng-xiong CHEN;Xiao-gang ZHANG;Jian-peng SHI;Xiao-yan XIONG;Long QUAN(Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education and Shanxi Province,Taiyuan University of Technology,Taiyuan 030024,Chin)
出处
《机床与液压》
北大核心
2018年第12期88-93,共6页
Machine Tool & Hydraulics
基金
supported by the National Natural Science Foundation of China (No.U1510206) and National Natural Science Foundation of China (No.51575374)
关键词
定位控制
挖掘机动臂
流量匹配
Position control
Excavator boom
Flow matching
