Design Of Control System For Manipulators Of Hydraulic Excavator Based On DSP

With more and more applications of the techniques of microelectronics, robotics and artificial intelligence to traditional industry, it gives rise to many new opportunities and challenges in the research and development field of engineering machine such as excavator. Currently, multinational corporations have occupied the majority markets. It is a challenge for the survival and development of the domestic enterprise and the research organization. Therefore, we make researches to provide the theoretic for the realizations of the optimization of excavator design and the intelligentizing of the operation. In this thesis, some useful studies are made from the view of excavator robotic with the project-"the hydraulic excavator manipulation control system".The main contents in this paper include:(1)Using fuzzy PID algorithm, an excavation track intelligent controller is designed. The results of computer simulations show that the proposed scheme has the good robustness and rapid tracing capability.(2)With the complicated characteristics of non-liner, this paper presents a new method of sliding mode control for the trajectory tracking of hydraulic excavator, the lagrange dynamic model of three-degree-of-freedom manipulator for a hydraulic excavator with robotics theory is established, and then calculate the control quantity needed when tracking the planed trajectory from sliding mode controller. The system eliminates the chattering of control and has strong robust by using the low-pass filter. The results of simulation about a 3-DOF model for the manipulation show that the scheme can achieve tracking effect with high precision and speediness, as well as eliminate chattering under the condition of existing model error and external disturbance.