液压挖掘机器人轨迹跟踪控制综合策略方案研究

Study of control of trajectory tracking of a robotic hydraulic excavator

针对液压挖掘机器人工作装置和液压系统高度非线性、单一的控制策略不能实现有效精确控制的特点,提出了挖掘机器人轨迹跟踪控制的综合策略。在传统的轨迹规划器中,加入了轨迹优化模块;在关节伺服控制中,采用了基于规则的智能PID控制策略;在泵控制中,采用了改进的负流量节能控制技术。实验结果证实了这种方案的有效性,可以在很大程度上提高挖掘机器人的轨迹跟踪精度,使操作更加平稳。

An experimental method of trajectory tracking control of the robotic excavator is given, in the light of the strong nonlinearity of devices and hydraulic system of the robotic excavator. In the traditional trajectory planning, an optimization model is joined. The intelligent PID control based on some rules is adopted in the joint sevocontrol. And the negative control is adopted in the pump sevocontrol. The results of experiments prove the validity of this method which has improved the precision of trajectory tracking and enhanced the performance of operation of the robotic hydraulic excavator.