挖掘机器人渠道维护轨迹规划与控制研究

Research on Trajectory Planning and Control for Excavation Robot Channel Repairing

摘要: 为提升液压挖掘机在渠道维护中执行机构位置的控制性能，减少执行机构工作过程中产生的冲击和振动，设计了一种模糊算法来优化执行机构位置PID控制器的参数，使用五次多项式轨迹规划减少作业过程中冲击和振动。首先建立挖掘机运动学模型，确定位姿关系；其次对渠道维护作业中挖掘工况进行轨迹设计，得出液压缸位移与铲斗，动臂，斗杆关节角数学关系；然后根据挖掘机器人系统模型，以动臂液压缸为被控对象，对PID控制和模糊PID控制进行仿真。通过仿真分析基于模糊PID控制与PID控制相比，模糊PID控制的稳态误差和响应时间减小，其中响应时间下降了36%，验证了模糊PID控制算法的先进性。

Abstract: In order to improve the control performance of the actuator position in the maintenance of the hy-draulic excavator and reduce the impact and vibration of the actuator, a fuzzy algorithm was de-signed to optimize the parameters of the actuator position PID controller and reduce the impact and vibration during the operation by using quintic polynomial trajectory planning. Firstly, the kinematics model of excavator is established to determine the position and pose relationship. Sec-ondly, the trajectory design of excavation conditions in channel maintenance work is carried out, and the mathematical relationship between hydraulic cylinder displacement and bucket, boom and bucket rod joint Angle is obtained. Then, according to the system model of the mining robot, with the hydraulic cylinder of the boom as the controlled object, the PID control and fuzzy adaptive con-trol are simulated. Through simulation analysis, compared with PID control, the steady- state error and response time of fuzzy adaptive control are reduced, and the response time is reduced by 36%, which verifies the advanced nature of fuzzy PID control algorithm.