Research On Path Planning And Tracking Control Of Mechanical Excavator

Mechanical excavator is an important equipment for mining solid resources in open-pit mines.Due to the low level of intelligence of mechanical excavator,the working environment is harsh and the working conditions are complicated and changeable,and the physical safety and health of operators are difficult to be guaranteed during the working process,which greatly affects the mining efficiency of open-pit mineral resources.In order to make mechanical excavators safe and efficient for extraction,it is necessary to improve the intelligence level of mechanical excavators and finally realize the unmanned operation of mechanical excavators.This thesis is based on the National Natural Science Foundation of China project "Intelligent loading and unloading strategy and multi-objective trajectory planning for unmanned mining shovels"(No.52105100).The following work has been done for the research of path planning and tracking control of mechanical excavator.The research significance of intelligent mechanical excavators is described,the research overview of common path planning methods is introduced,the path tracking control methods and research results in different fields are summarized,and the relevant scientific research results of OPC(OLE for Process Control)technology are outlined.The planar kinematic model and the motion error model of the mechanical excavator are established,and the working principle of OPC server is analyzed in depth.The path planning of the mechanical excavator is studied,which is improved on the basis of the traditional artificial potential field algorithm,effectively avoiding the local optimum problem when using the traditional artificial potential field algorithm for path planning;the path planning is divided into two sections,the first section is used for obstacle avoidance,and the second section is used to adjust the heading of the mechanical excavator when it reaches the target position;the entire path is smoothed by using three B-sample curves.The effectiveness of the path planning algorithm used in this paper is proved by simulation tests.The path tracking control scheme of mechanical excavator is developed,and the path tracking controller of mechanical excavator is designed by analyzing the characteristics of variable domain fuzzy control theory.Matlab software is used to simulate and analyze the typical travel conditions of the mechanical excavator,and the effectiveness of the variable domain fuzzy controller is verified by the simulation results.The path planning algorithm and tracking control method proposed in this paper are tested and verified based on the mechanical excavator prototype.The test results show that the path planning algorithm and the path tracking control method used in this paper can effectively achieve the purpose of obstacle avoidance of mechanical excavator.