Research On Trajectory Control Of Bucket Tip Of Hydraulic Excavator Manipulator

Hydraulic excavator with an adverse bucket is a kind of machinery which is used widely,it plays an important role in mining and construction industry. But its method of control has not been improved yet . controlled by a skillful operator. as the boom,arm and bucke have their own control handle ,the operator need to control the three handle to complete one motion. this is hard to the operator and poor accuracy. in order to enhance theefficiency,improve the working characteristic, ruduce recycling circle ,decrease the energy comsumption, improve the working condition and abate steering intension.it is necessary to introduce automatic technology. so, this article mainly deals with the research of the bucket tip motion control for the hydraulic excavator.In this paper,it makes a research on the motion control of the hydraulic excavator bucket tip with robotic technology, mechanics and hydraulic control technology. and has resolved following three issues:1. The electro-hydraulic proportional technology modification of a conventionnal excavator. this paper modifies the conventional excavator with the electro-hydraulic proportional technology. add a group of electro-hydraulic proportional valve without changing the original system.The modified excavator provide the basis for hydraulic excavators to achieve automatic control.2. The study on digital PID control method. this article established a mathematical model of the hydraulic components,and deducted the whole mathematical model of the system,furthermore ,it analysed the time domain and the frequency domain character of the system with Matlab7.1,not only the sysytem's stability has been greatly enhanced,but also the performance of the system such as the cut-off frequency, response speed,follow capacity have been optimized.3. The study on the associated motion control between the robotic excavator's working equipment and the hydraulic system.kniematic model connects the desired trajectory of the bucket with the working equipment's desired angle series ,the hydraulic cylinders'length series and electro-hydraulic proportional valves port flow series in order to obtain bucket tip trajectory planning method.