集成储能泵控液压挖掘机的轨迹控制

Trajectory Control of Pump-Controlled Hydraulic Excavator with Integrated Energy-Storage

为适应工程机械智能化和节能化作业的发展趋势,提出基于集成储能泵控液压挖掘机的轨迹控制,其中液压缸采用增加势能回收腔的集成液压缸。建立挖掘机位姿空间、关节空间与驱动空间彼此间的转换关系,再利用正弦加减速法对挖掘机整平作业进行轨迹规划,并求得相应驱动空间中的位移曲线;搭建伺服电机-定量泵驱动集成液压缸的数学模型,分析其固有特性,并采用液压缸速度前馈、位置/速度反馈双闭环的控制策略提高其控制精度;最后在SimulationX软件中搭建机电液联合仿真模型。结果表明:铲斗齿尖末端最大误差为17 mm,在合理的范围内,所以可利用速度位置复合控制实现对挖掘机的准确控制。

In order to adapt to the development trend of intelligent and energy-saving operation of construction machinery,the traj⁃ectory control of pump-controlled hydraulic excavator based on integrated energy-storage was proposed,in which the hydraulic cylinder was an integrated hydraulic cylinder with potential energy recovery chamber.The transformation relationship among the excavator pose space,joint space and driving space was established,then the sinusoidal acceleration and deceleration method was used to plan the traj⁃ectory of the leveling operation of the excavator,and the displacement curve in the corresponding driving space was obtained.The mathe⁃matical model of the integrated hydraulic cylinder driven by servo motor and quantitative pump was built,and its inherent characteristics were analyzed.The control strategy of the hydraulic cylinder speed feedforward and position/speed feedback double closed-loop was adopted to improve its control accuracy.Finally,the electromechanical-hydraulic co-simulation model was built in SimulationX software.The results show that the maximum error of the tip end of the bucket tooth is 17 mm,which is within a reasonable range,so the accurate control of the excavator can be achieved by using the compound control of velocity and position.