基于多项式插值的电铲挖掘时间优化研究

Research on Optimization of Excavation Time for Mining Shovel Based on Polynomial Interpolation

针对传统矿用电铲挖掘效率低、挖掘不平稳等问题,以WK系列矿用电铲为研究对象,在电铲的关节空间中,对其挖掘轨迹进行理论计算,优化分析,试验验证研究。首先,通过D-H法对电铲进行正逆运动学求解,并选择合理的挖掘轨迹;其次,采用分段多项式对其轨迹进行插值计算,并通过对比分析选择适合矿用电铲的插值方法;然后,在Isight软件中采用组合优化算法对分段多项式插值函数进行时间最短的轨迹优化;最后,通过搭建电铲试验样机平台,对优化后的轨迹进行试验验证。研究结果表明:4-3-3-3-4分段多项式插值方法适用于电铲的最优时间轨迹规划,组合优化算法提高了优化的效率和准确度,优化后电铲的挖掘效率可提高18.5%,且电铲试验样机能够在优化的最短时间内高效完成挖掘任务。研究结果可为提高电铲挖掘效率提供理论基础。

Aiming at the problems of low excavation efficiency and unstable excavation of the traditional mining shovels,the WK series mining shovels were used as the research object,and their excavation trajectory were theoretically calculated,optimized and analyzed in the joint space of the electric shovel,and experimentally verified.Firstly,the D-H method was used to solve the forward and inverse kinematics of the electric shovel and select a reasonable excavation trajectory.Secondly,the segmented polynomial was used to interpolate the trajectory and select a suitable interpolation method for the mining shovel through comparative analysis.Then,the combinatorial optimization algorithm was used in Isight software to optimize the trajectory with the shortest time for the segmented polynomial interpolation function.Finally,the optimized trajectory was experimentally verified by building an experimental prototype platform of electric shovel.The results show that the 4-3-3-3-4 segmented polynomial interpolation method is applicable to the optimal time trajectory planning of electric shovel,and the combinatorial optimization algorithm improves the efficiency and accuracy of the optimization,and the excavation efficiency of the optimized electric shovel can be improved by 18.5%,and the experimental prototype of electric shovel can complete the excavation task well within the optimized shortest time.The study provides a theoretical basis for the improvement of the excavation efficiency of the electric shovel.