CLG920C挖掘机工作装置轨迹控制系统研究

发布时间：2018-03-02 00:15

本文关键词： 工作装置液压挖掘机轨迹系统　出处：《浙江大学》2013年硕士论文　论文类型：学位论文

【摘要】：液压挖掘机功能非常强大、结构非常复杂、用途非常广泛,是重要的土石方施工设备,在国家基础设施建设、国防建设、矿产开采等各个行业中占有重要位置,加强对液压挖掘机的研究具有重要意义。挖掘机的研究方向主要集中于几个方向,挖掘机智能化研究、挖掘机节能控制研究、挖掘机遥控技术的研究、挖掘机振动的研究。挖掘机研究对加强我国在挖掘机器人方面的研制水平、提高我国产品的国际竞争力有重大意义。本课题主要研制挖掘机轨迹控制系统,目标是在给定铲斗期望运动轨迹的情况下,对液压挖掘机的工作装置的运动进行控制,实现对期望轨迹跟踪。本课题主要利用机器人技术、理论力学、液压控制技术和自动控制理论对挖掘机工作装置的运动控制系统进行控制,主要工作有四个方面： 1、以机电液一体化技术为基础,研制了以数字信号处理器DSP作为核心电控单元的挖掘机轨迹控制系统。 2、建立了挖掘机器人运动模型,在此基础上,提出了挖掘机器人轨迹规划和控制的方法。 3、分析了挖掘机器人工作装置电液系统的动态特性,建立了工作装置电液伺服系统数学模型。 4、将模糊控制理论应用于挖掘机器人轨迹控制中。采用理论研究与试验研究相结合的方法,用真实机器的试验数据验证了理论研究的正确性。
[Abstract]:Hydraulic excavators have very powerful functions, very complex structures and very wide applications. They are important earth-rock construction equipment and play an important role in various industries, such as national infrastructure construction, national defense construction, mineral mining and so on. It is of great significance to strengthen the research on hydraulic excavator. The research direction of excavator is mainly focused on several directions, such as intelligent research of excavator, energy saving control of excavator, remote control technology of excavator, etc. Research on excavator vibration. The research of excavator is of great significance to strengthen the development level of excavating robot in our country and to improve the international competitiveness of our products. The main purpose of this project is to control the movement of the working device of the hydraulic excavator under the condition that the desired trajectory of the bucket is given. This paper mainly uses robot technology, theoretical mechanics, hydraulic control technology and automatic control theory to control the motion control system of excavator working device. 1. Based on the technology of electromechanical and hydraulic integration, the track control system of excavator based on digital signal processor (DSP) is developed. 2. The motion model of mining robot is established, and the method of trajectory planning and control is put forward. 3. The dynamic characteristics of electro-hydraulic system of excavating robot are analyzed, and the mathematical model of electro-hydraulic servo system is established. 4. The fuzzy control theory is applied to the trajectory control of excavating robot, and the correctness of the theoretical research is verified by the experimental data of the real machine by combining the theoretical research with the experimental research.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TU621;TP273

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