无人驾驶挖掘机器人实际工作环境恶劣,为提高铲斗在负载扰动下的轨迹跟踪精度,建立了挖掘机电液系统非线性数学模型,设计了基于线性扩张状态观测器的滑模控制器(Sliding mode controller based on linear extended state observer,SMC-L...无人驾驶挖掘机器人实际工作环境恶劣,为提高铲斗在负载扰动下的轨迹跟踪精度,建立了挖掘机电液系统非线性数学模型,设计了基于线性扩张状态观测器的滑模控制器(Sliding mode controller based on linear extended state observer,SMC-LESO)。根据铲斗油缸活塞杆位移信号,利用设计的线性扩张状态观测器对系统的速度、加速度及负载扰动和不确定因素进行估计,解决了系统参数难以测量的问题。在此基础上,设计了滑模控制器,并证明了该控制器的Lyapunov稳定性。为进一步验证该控制器的有效性,建立了挖掘机电液比例控制系统的联合仿真模型,并与PID控制器、滑模控制器的轨迹跟踪精度进行对比。仿真结果表明,该控制器可以有效抑制扰动,位移跟踪精度高、鲁棒性强。展开更多
The study on slide stability of hydraulic structures on subbed soil was made. Using the slide test results of dragged concreting base plates on subbed soil pits,the decreased value of bearing capacity on slide after r...The study on slide stability of hydraulic structures on subbed soil was made. Using the slide test results of dragged concreting base plates on subbed soil pits,the decreased value of bearing capacity on slide after rebound and repression influence of subbed soil was determined,and the envelope of ultimate slide shear resistance was also quantitatively determined. Due to the lack of similar mechanisms of slide stability on subbed soil and base plate of hydraulic structures,different safety coefficients for the slide stability were adopted. It was suggested to use the maximum compressive stress σmaxof eccentric load to predict structure displacement,slide and creepy slippage of subbed soil,to determine the sliding creepy contour and limit the maximum load on subbed soil. Two hydraulic structures that had been put into operation were reviewed by this method,and the results accorded with the real conditions.展开更多
基金supported by Key Project of Industrial Science and Technology of Shaanxi Province(No.2015 GY068)。
文摘无人驾驶挖掘机器人实际工作环境恶劣,为提高铲斗在负载扰动下的轨迹跟踪精度,建立了挖掘机电液系统非线性数学模型,设计了基于线性扩张状态观测器的滑模控制器(Sliding mode controller based on linear extended state observer,SMC-LESO)。根据铲斗油缸活塞杆位移信号,利用设计的线性扩张状态观测器对系统的速度、加速度及负载扰动和不确定因素进行估计,解决了系统参数难以测量的问题。在此基础上,设计了滑模控制器,并证明了该控制器的Lyapunov稳定性。为进一步验证该控制器的有效性,建立了挖掘机电液比例控制系统的联合仿真模型,并与PID控制器、滑模控制器的轨迹跟踪精度进行对比。仿真结果表明,该控制器可以有效抑制扰动,位移跟踪精度高、鲁棒性强。
文摘The study on slide stability of hydraulic structures on subbed soil was made. Using the slide test results of dragged concreting base plates on subbed soil pits,the decreased value of bearing capacity on slide after rebound and repression influence of subbed soil was determined,and the envelope of ultimate slide shear resistance was also quantitatively determined. Due to the lack of similar mechanisms of slide stability on subbed soil and base plate of hydraulic structures,different safety coefficients for the slide stability were adopted. It was suggested to use the maximum compressive stress σmaxof eccentric load to predict structure displacement,slide and creepy slippage of subbed soil,to determine the sliding creepy contour and limit the maximum load on subbed soil. Two hydraulic structures that had been put into operation were reviewed by this method,and the results accorded with the real conditions.