Hydraulic Mining Of The Motion Control System For Robots Working Device

Hydraulic excavators play important role in mining and construction industry. In order to enhance the efficiency, improve the working characteristic, reduce recycling circle, decrease the energy consumption, improve the working condition and abate steering intension, it is no doubt that robotic excavator will be the developing direction in the future. The motion control of the working equipments is the key to realize automatic excavation, therefore, this paper focus on the research of motion control system of the robotic excavator's working equipment. It's purpose is to control the motion of the working equipment to track the desired bucket trajectory.By the use of robotic technology, mechanics theory, hydraulic control theory, variable structure theory and fuzzy control theory, this paper makes a research on the motion control system of the working equipment of the robotic excavator and has resolved the following three issues:1. The robotic modification of a conventional excavator. This paper presents the robotic modification technology of the conventional excavator and the software and hardware structure of robotic system. The modified robotic excavator can meet the demands of excavation and the inferior working condition of constructing machinery.2. The study on the overall model of the robotic excavator's working equipment. Kinematic model connects the desired trajectory of the bucket with the working equipment's desired angle series and the hydraulic cylinders' length series, and thus the bucket trajectory planning strategy is obtained; The dynamic model on the basis of Newton-Euler equation specifies the forces imposed on the working arm and it's dynamic characteristics, and it is helpful to designing and control; This paper introduces the LUDV load sensing variable pump into the robotic excavator for the first time, and gives its full space-state equation on the basis of the analysis of the whole electro-hydraulic system which will be the important proof to decide the control strategy.3. The study on the force and position combined control system on the basis of the fuzzy sliding mode control strategy. Considering the highly non-linearity, parameters uncertainties, external disturbance of the electro-hydraulic system, this paper combines the fuzzy control and the sliding mode control organically. It has the benefits of robustness and quickness of a sliding mode controller, and weakens the chattering by fuzzy tuning; The combined control of force and position can control the position as well as the interacting force between the bucket and the surface effectively.