Research On Excavation Trajectory Control Of The Electric Shovel Experimental Platform

The electric shovel is a large mining equipment which is widely used in the open pit mining.It plays an important role in the mining and loading operations of minerals.When electric shovel is excavating minerals,for the mine heaps with different topography,if electric shovel excavates according to the corresponding optimized trajectory,the full rate can be significantly improved and the energy consumption can be significantly reduced.At present,large-scale mining electric shovel is manually operated,due to the limitation of technology and experience level,it is impossible to control the electric shovel to excavate according to a given trajectory,thereby affecting the excavation efficiency and production energy consumption.In view of the above problems,the research on excavation trajectory control is carried out on the electric shovel experimental platform.The specific work contents are as follows:(1)The kinematics analysis of the electric shovel experimental platform was carried out,the control method of the excavation trajectory and the motion planning method of the actuator were researched,the automatic planning of the executing actuator movement was realized.According to the actual movement situation of the electric shovel experimental platform in the excavation process,the kinematics model of the electric shovel experimental platform is established,the coordinate system of each joint is established by D-H method,and the pose transformation matrix of the bucket tip relative to the body is solved,according to this,the forward kinematics and inverse kinematics analysis of the electric shovel experimental platform are carried out;According to the results of kinematics analysis,the control method of the excavation trajectory and the motion planning method of the executing actuator is researched,in order to improve the accuracy of trajectory control,a fuzzy control algorithm is introduced;the motion planning program of the executing agency is programmed in Matlab software,realizing the automatic planning of the movement of the executing actuator according to the target excavation trajectory.(2)The overall scheme design of the control system was carried out,the automatic control system of the excavation trajectory and remote control system of the electric shovel experimental platform were built,and the man-machine interface was developed.According to the demand for the automatic control system of the excavation trajectory which is made by the method of excavation trajectory control,The hardware selection and installation of the automatic control system of the excavation trajectory are carried out,In order to verify the enforceability of the pushing movement,lifting movement and pushing-lifting synergy movement of the electric shovel experimental platform,a remote control system was built;The control program of PLC is programmed by using the TIA Portal software;The OPC communication is configured in Matlab software and PLC respectively,achieving that the motion planning of the actuator is transmit to the lower machine;using the GUI design function of Matlab software to develop the human-machine interface of the upper computer of the electric shovel experimental platform,realizing that inputting the target excavation trajectory and the display of the actual excavation trajectory through the human-machine interface.(3)The remote control and automatic control of excavation trajectory experiments of the electric shovel experimental platform were carried out.Through the remote control experiment,the enforceability of electric shovel experimental platform for pushing movement,lifting movement and pushing-lifting synergy movement was verified.Sixteen times of automatic control of excavation trajectory experiments were carried out on the electric shovel experimental platform,And calculate the goodness of fit of the actual excavation trajectory to the target excavation trajectory in each experiment,the automatic control of excavation trajectory experiments showed that the electric shovel experimental platform could control the target excavation trajectory accurately,with an average goodness of fit was 93.79%±0.025,realizing the automatic control of excavation trajectory.