挖掘机器人控制系统

Control System of Robotic Excavator

针对液压挖掘机的多变性、液压系统的高度非线性、整个控制系统存在大量的不确定量等问题,提出了采用慎思和反应行为结合的复杂控制体系。以山地挖掘机为平台,根据项目的主要功能和技术指标,分析慎思和反应行为结合情况下的复合控制体系,该控制体系通过以太网和CAN总线实现信息实时交互。应用结果表明:该控制系统能实现挖掘机的机器人化,并已成功应用于某预研项目。

For the problems including the polytrope of hydraulic excavator, highly nonlinear hydraulic system and many uncertain data in the whole control system, so the complex control system of cautious consideration and reaction behavior has been used. The platform of project is the mountain excavator. According to the main features and technical specifications of the project, analysis of complex control system of cautious consideration and reaction behavior. The complex control system transmits information in real-time via Ethernet and CAN bus. Application results show that the control system can achieve the robotic excavator and has been successfully applied to a pre-research project.