Study On Trajectory Planning System Of Hydraulic Working Decice

With the development of modern science and technology,intelligent construction machinery is the main direction of development.In this thesis,according to the development trend of intelligent excavators,the trajectory planning and motion control of work devices are studied.First,trajectory planning is performed on the working equipment of the excavator,and the kinematics model of the excavator working equipment is established using the D-H method,according to the linear operation trajectory,the relationship between the position of the excavator bucket and the length of each hydraulic cylinder is obtained through inverse kinematics calculations;Then,in order to effectively control the trajectory,a hydraulic position closed-loop control system with a proportional servo valve as a control element and a cylinder stroke sensor as a feedback element was designed,based on the characteristics of the system valve asymmetric cylinder,the performance of the hydraulic system was analyzed by establishing the mathematical model of the hydraulic system;Then,a linear interpolation algorithm is used to control the motion trajectory,and the control process is decomposed into the control of a single hydraulic cylinder,in order to improve the performance of single-cylinder position closed-loop control system and improve the accuracy of trajectory control,a single neuron PID control strategy with parameter auto-tuning function was used to optimize the position control system,the virtual prototype model of excavator was established using ADAMS software,and the kinematics simulation of straight excavation trajectory was performed;Finally,the hardware circuit with STM32 microcontroller as the core is designed,the software development environment is Keil Vision5,and the software program is written in C language.The hardware and software design of the control system are completed.The MATLAB simulation results show that the single neuron PID controller has faster response speed and better tracking performance than traditional PID controllers,and can meet the requirements of actual working conditions;ADAMS trajectory planning kinematics simulation results show that the method of bucket trajectory planning is correct Feasible,providing a certain reference for the study of excavator automation.