挖掘机机械臂多自由度运动控制系统设计

Design of Multi-degree-of-freedom Motion Control System for Excavator Manipulator

研究围绕挖掘机机械臂多自由度运动控制系统展开,旨在设计并验证PID控制算法的有效性。背景在于传统控制方法难以满足现代挖掘机对高精度和高响应速度的需求。研究采用MATLAB/Simulink进行仿真,通过建立机械臂的运动学和动力学模型,设计PID控制算法进行测试。结果显示,PID控制算法在高精度定位、快速响应和稳定运行方面表现出色,同时在不同负载和扰动条件下保持高鲁棒性,能耗显著降低。研究成果为挖掘机机械臂控制系统的优化设计提供了理论依据和实践指导。

The research focuses on the multi-degree-of-freedom motion control system of the excavator manipulator,aiming to design and verify the effectiveness of the PID control algorithm.The background is that traditional control methods are difficult to meet the needs of modern excavators for high precision and high response speed.The research uses MATLAB/Simulink for simulation.By establishing the kinematics and dynamics model of the robotic arm,the PID control algorithm is designed for testing.The results show that the PID control algorithm performs well in high-precision positioning,fast response and stable operation,while maintaining high robustness under different load and disturbance conditions and significantly reducing energy consumption.The research results provide theoretical basis and practical guidance for the optimal design of the excavator manipulator control system.