液压挖掘机铲斗轨迹跟踪的鲁棒控制

首先给出了挖掘机工作装置的两自由度动力学方程模型;然后基于滑模控制原理设计了状态观测器,并在此基础上根据反演法设计了挖掘机工作装置的带滑模观测器的变结构控制器;最后在改造后的挖掘机上进行了试验,并给出了所设计的控制器和常规PID控制器跟踪设定直线的效果。试验结果表明,使用常规PID控制器所得到的跟踪误差大于40 mm;而使用作者设计的控制器其跟踪误差可以控制在30 mm之内。对比结果表明,所设计的控制器对设定直线的跟踪具有良好的动态特性,对系统的不确定性具有较强的鲁棒性。

Robust trajectory tracking control of hydraulic excavator bucket

A 2-DOF dynamic model for the working device of a hydraulic excavator was built,and a state observer was designed according to the sliding mode control theory on this basis,a variable structure controller(VSC) with the sliding mode observer for the excavator working device was developed by means of the reversal procedure.The tests were performed on the modified excavator to compare the performance of the bucket tip to track the prescribed straight line under the control of the developed VSC with that of the conventional PID controller.The results showed that the errors for PID controller are more than 40 mm,but those for VSC are less than 30 mm.It shows that the proposed VSC is characterized by good dynamic performance for tracking the prescribed line,and robustness against the uncertainties in the system.