神经网络在液压挖掘机工装轨迹控制中的应用

BP NETWORK CONTROL OVER THE TRACK OF WORKING DEVICE OF HYDRAULIC EXCAVATOR

针对液压挖掘机工装轨迹自动控制这一热点课题,通过机、电、液控制系统的数学建模,将BP神经网络控制应用在该系统,并针对所建立的数学模型进行了计算机仿真。通过仿真结果,分析了系统的动态响应和稳态误差,并得出BP网络控制优于常规控制的结论,最后,将该方法应用于挖掘机的实际控制,得到了良好的控制效果,实现了挖掘机工装轨迹的智能控制。

Mathematic model of the control system of a hydraulic excavator is built, with BP neural network introduced to the control system. Computer simulation is used to check the control effect of the built mathematic model. Based on the simulation results, the conclusion is that BP neural network control is better than the conventional PID control after having analyzed dynamic response and steady-state error of the excavator system. Finally, BP neural network is applied to actual control of the excavator and the system showed good control effect.