基于Fuzzy Logic/Stateflow的挖掘机拟人操作技术

Anthropomorphic Manipulation of Excavator Based on Fuzzy Logic/Stateflow

为提高挖掘机工作装置的自主操作水平,减轻驾驶员的劳动强度,针对PC02挖掘机工作装置在挖掘过程中的基本动作,在行为控制的基础上,提出了实现基本动作的I-FORMA-O方法以及基于FuzzyLogic/Stateflow的仿真实验模型;仿真实验实现了由基本动作对应的驱动事件使挖掘行为发生状态迁移的过程.结果表明,用模糊逻辑定义基本动作简化了计算,该仿真实验模型作为平台,直观、可靠,便于借用和修改挖掘机驾驶人员的操作经验,使开发效率明显提高,为以后使用RTW工具箱直接生成可执行代码奠定了基础.

To improve the autonomous operation of excavator＇s attachment and reduce the intensity of operator＇s labor,an I-FORMA-O approach was presented for the behavioral control of the princpal actions of a PC02 excavator to be implemented and for developing a simulating model based on Fuzzy Logic/Stateflow.The Simulink experiments verified that the state-transition process of excavating behavior is resulting from the events which were driven by the correspoding principal actions.And the result showed that the principal actions defined by Fuzzy Logic simplifies the computation and that the model as a platform is visual,reliable and available to resort to drivers＇ operating experience for the excavator or modify it so as to improve the R D efficiency.Thus,a foundation is laid to directly generate an executable code for the applications of RTW（real-time workshp） tool kit.