强力摇臂矿用液压挖掘机自主挖掘轨迹优化

Trajectory Optimization of Autonomous Mining for Powerful Rocker Arm Hydraulic Shovels

以最低挖掘能耗、最短挖掘时间和最大满斗率为优化目标,提出一种以强力摇臂矿用液压挖掘机为研究对象的自主挖掘轨迹优化方法。首先分析强力摇臂矿用液压挖掘机在人为操纵和自主挖掘方面的优势,并通过动力学仿真软件RecurDyn与离散元仿真软件EDEM联合仿真对比强力摇臂矿用挖掘机不同挖掘方式的优缺点,将复合挖掘确定为液压铲的自主挖掘方式。其次,建立强力摇臂液压挖掘机的数学模型和挖掘阻力模型。再次,以抛物线加速度多项式曲线作为三组液压缸的轨迹规划曲线,确定多目标优化函数及其约束条件,并利用遗传算法求解该优化问题。最后通过控制器在环的强力摇臂矿用液压挖掘机半物理实时仿真平台验证所得优化结果的有效性和可行性。结果表明,与同斗容的机械式矿用挖掘机相比,采用相同的轨迹优化方法,在保证满斗率和作业时间维持在一定合理范围的前提下,强力摇臂矿用液压挖掘机在挖掘作业时,执行器的平均能耗可降低16.41%,具备优越的性能。

Taking the shortest mining time,the maximum bucket fill factor,and the lowest mining energy consumption as the optimization objectives,a trajectory optimization method of autonomous mining is proposed for powerful rocker arm hydraulic shovels.At first,the advantages of the powerful rocker arm hydraulic shovel in human manipulation and autonomous mining are analyzed.Based on this,the advantages and disadvantages of different mining methods for hydraulic shovels are compared by the co-simulation of dynamic simulation software RecurDyn and discrete element simulation software EDEM.Then,the composite mining is determined as the autonomous mining method of hydraulic shovels.Moreover,mathematical models and the digging resistance model of the powerful rocker arm hydraulic shovels are established.Furthermore,taking the parabolic acceleration polynomial curve as the trajectory planning curve of the three groups for hydraulic cylinders,the multi-objective optimization function and its constraint conditions are determined.And,the genetic algorithm(GA)is used to solve the optimization problem.Final,the effectiveness and feasibility of the optimized results are verified by the semi-physical real-time simulation platform of the powerful rocker arm hydraulic shovels with the controller in the loop.The results show that compared with the mechanical mining excavator with the same bucket capacity,the average energy consumption of the actuators for the powerful rocker arm hydraulic shovels can be reduced by 16.41%under the premise that the full bucket rate and working time are maintained in reasonable ranges by using the same trajectory optimization method.Therefore,the mining hydraulic excavator has superior performance.