Hydraulic Excavator Bucket Trajectory Controller Soc Prototype

Research on robotic excavator has become a hotspot home and abroad, and this type of excavator is showing its advantages in application. Under this background and combining the latest technology of SOC, this thesis does some practical research on trajectory controller prototype of bucket of hydraulic excavator.This paper analyzed kinematics production of excavator in the beging. Considering the shortcoming of digital PID control, that it's hard to adjust parameters. This paper presents incremental theory of trajectory controlling. The dynamic characteristic of electro-hydraulic proportional decompressing valve can be ignored in practical applicational. Thus The current-flux model of electro-hydraulic proportional decompressing valve can be getted, which is the theory base of current-states working device transform in hardware-in-loop simulation.The trajectory controller belongs to motion controller in essence. Comparing with traditional embedded system, the SOC technology can bring more low power consumption, more high Ratio for quality to price and more quick time-to-market. It also can advance performance and reduce cost and volume. There are two ways of SOC designing technology: based on IP cores and based on platform. By contrasting such two ways, this paper point out that in absolute programmable environment the latter can reduce designing complexity, and in addition be highly flexble.From above analyse, this paper will research the excavator trajectory controller by SOC technology based on platform. A trajectory controller prototype "Excavator Controller" be carried out in programmable platform Stratix board(can collocate NiosⅡCPU) manufactured by Altera, Ltd.. According actual controlling demand, a Hardware/Software codesign method was adopted, related IP cores are designed, and all of them were synthesized and added int NiosⅡCPU. "Excavator Controller" implements the most function of trajectory contoller on a single chip by using SOC technology and achieve the advantage in power consumption and size. All the functions and incremental control theory program are designed in software. In order to improve real-time of controlling, a embedded OSμC/OS-Ⅱwas used in system for multitask management.At last, this paper designed hydraulic excavator VR software in Visual C＋＋6.0 based on OpenGL lib. Together with trajectory controller, the Hardware-In-Loop simulation environment was built. The level straight digging experiment of trajectory controller was carried out. Good control effect was achieved by adjusting controlling parameters.