| Hydraulic excavator is widely used in construction sites, road construction site, bridge construction, water conservancy, airport harbor and dangerous rescue scene. It usually includes three types of basic behavior:excavation or transport, loading and dumping. This means that high-intensity tasks of human labor and expensive equipment. In hazardous working environment, not only does equipment expose to the danger, but also personal safety is threatened. Meanwhile, with the development of modern construction machinery, the excavator product realizes the function to be getting more and more, the operation of the excavator is getting more and more complex, it requests the operator to grasp skilled and the most superior operation technique under the complex working conditions. But the independent intelligent system of excavator has provided one kind of solution, and will have the vital significance in the future on the aspect of excavator’s control system development. Under this background, on the base of the model of robotic excavator’s working device, depending on the key discipline fund projects of Liaoning province "the excavator personification operating system", the aim of subject is to realize the automatic control of excavator’s working device, based on Hardware In the loop Simulation (HILS) platform constructed by Matlab/xPC and Simulink platform for research and development to the intelligent control system of PC02-1mini excavator prototype machine. The main research work is as follows:(1) The HILS platform of PC02-1mini excavator’s working device is refined and improve. In order to achieve the intelligent personification control of excavator’s working, depending on electric-hydraulic proportional modification on PC02-1Komatsu hydraulic excavator, first of all, the equipment has been passed through the multiple debugging, founded the problem which is that the pressure transmitter and the angle sensor could not simultaneously work together. Chose and matched the high efficiency Dc voltage-stabilized source and over-current protection circuit breakers; changed the pressure transmitter and the angle sensor’s wiring way and the signal gathering return route circuit. The Komatsu excavator on electric mode can compound actions for4degrees of freedom. To the following work, it provided a hardware foundation.(2) The intelligent control platform of The Komatsu excavator’s working device is used the hardware-in-the-loop simulation technology in kind to analyze, to construct and to debug, created the good experimental condition for the intelligent control system’s experiment.(3) The intelligent control system of Komatsu excavator’ working device is designed on a behavior-based control. To realize excavator’s autonomous excavating, a behavior-based control structure is designed by Simulink/Stateflow tools. The finite state machine is used as the decomposition of excavating task. Edited truth table with the skilled operatives’ the experience and critical thinking, the truth table knowledge set is used to simulate the logic of the human mind to judge.(4) Komatsu excavator’s fuzzy controller is designed by GUI editor (Fuzzy Inference System, FIS). It has implemented the actuator’s (hydraulic cylinder) intelligent control. Initially, it is formed the personification intelligent control as the goal of the Komatsu excavator’s intelligent control system and verified through simulations and experiments.(5) Used the behavior-based control strategy, respectively, the4subsystems of intelligent control system for Komatsu excavator’s working device is simulated and verified by experiments. Through the continuous optimized and adjustment of subsystem parameter, it has realized the movement goal. Finally, the intelligent control system integrated comprehensive test, so that the initial realization of Komatsu excavator’s autonomous excavating obtains a good behavior movement progress, a good real-time data processing ability and robustness. |
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