摘要
为了实现挖掘机工作装置挖掘过程的拟人化操作,对小松PC02挖掘机工作装置原液压系统进行了电液化改造,使其能够接受电信号的控制;构建了xPC目标机实时控制平台。以模糊行为理论为基础,结合Stateflow(状态流)和FuzzyLogic(模糊逻辑)工具箱,提出基于Simulink的实验方案;并以石块挖掘行为作为典型的工况完成了实验验证。结果表明:应用模糊行为理论实现挖掘机挖掘过程的拟人化操作是可行的;xPC目标机实时控制平台工作可靠;将Stateflow/FuzzyLogic和Simulink结合在一起,编程直观,修改方便。
In order to implement the anthropomorphic manipulation of excavation processing, the electro-hydraulic modification of Komatsu PC02 excavator＇s hydraulic system was made, for the new system could receive the voltage signal; and xPC target real time control platform was constructed. The experiment method was proposed, combining Stateflow, Fuzzy Logic toolboxes and Simulink, based on fuzzy-behavior approach, and the unearth rock fuzzy-behavior was proved valid. The results shows that the fuzzy-behavior approach was effective and efficient for fulfilling the anthropomorphic operation of excavation process; xPC target real time control plat- form is reliable; and graphic interfaces of Stateflow/ Fuzzy Logic/Simulink make the programming convenient and easy to edit.
出处
《机床与液压》
北大核心
2011年第21期5-8,18,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(50775029)
关键词
挖掘机
拟人操作
行为控制
模糊逻辑
Excavator
Anthropomorphic manipulation
Behavior control
Fuzzy logic
