液压挖掘机轨迹控制策略的半实物仿真研究

The hardware-in-loop simulation research about trajectory control on hydraulic excavator

设计基于递推增量算法的轨迹控制器原型,为验证其控制效果的正确性,开发基于OpenGL的VR仿真软件.轨迹控制器与虚拟现实VR软件共同组成半实物仿真环境.在此环境下,模型挖掘轨迹设定水平走直线动作,通过不断地调整控制参数,以达到良好控制效果.最后证明运动控制器原型系统能按预期的控制要求工作.

Trajectory controller prototype is designed based on incremental theory of trajectory controlling,to verify the acurracy of the controlling,VR(vatual reality) software is developed based on OpenGL(open graphics library).Trajectory controller and VR software compose hardware-in-loop simulation environment.Under the circumstanses,the level straight digging experiment of model trajectory controlling is setted.Good control effect was achieved by adjusting controlling parameters,finally anticipated controlling r...