基于低通滤波器的液压挖掘机工作装置轨迹跟踪滑模控制

Sliding Mode Control for Trajectory Tracking of Hydraulic Excavator Working Device Based on Low Pass Filter

为了提高液压挖掘机工作装置轨迹跟踪的精确度,用Lagrange法建立了液压挖掘机工作装置的动力学方程。针对液压挖掘机工作装置的高度非线性、时滞性及参数不确定性,运用带低通滤波器的滑模算法对其进行控制,并对设计的控制器进行了稳定性分析,对工作装置进行了仿真实验。结果表明,基于低通滤波器的滑模控制算法,既可有效地消除抖振现象,又可提高系统的快速跟踪性能和动态响应性能,同时对参数不确定性有较好的鲁棒性。

To improve the accuracy of the trajectory tracking of hydraulic excavator working device, Lagrange dynamics model of hydraulic excavator working device was established. Because the hydraulic excavator working device had highly nonlinear, time lay, parameter uncertainty, sliding mode algorithm based on the low pass filter was proposed. The simulation results showed that the sliding mode control method was based on the low pass filter, which effectively eliminate chattering phenomenon, and improved the fast tracking performance and dynamic response performance of the system, and had a stronger robustness to parameter uncertainties.