Research And Simulation Analysis Of Trajectory Control System Of Excavator Working Device

Hydraulic excavator is an important construction machine,widely used in construction,mining,petroleum,military engineering and other fields.In order to improve the working efficiency of the excavator and reduce the working intensity of the operators,many manufacturers at home and abroad have begun to actively improve the intelligent level of the excavator and apply electronic control technology to the excavator,gradually forming an intelligent control system for the excavator.This has important meaning to the development of national economyThis paper is derived from the school-enterprise cooperation project "design and development of FW80 hydraulic excavator"(project number: FW/RD201717),focusing on the research on the trajectory control system of the excavator working device,realizing the effective control of the movement of the working device under the premise of known target coordinates,and laying a foundation for realizing the intellectualization of the excavator.The technologies applied in this paper include robot technology,electro-hydraulic proportional technology,control technology,etc.The system is studied through theoretical analysis,model building,sample vehicle experiment and joint simulation.This paper includes the following aspects:Through consulting a large number of relevant literature,this paper summarizes the general situation of intelligent development of excavator and electro-hydraulic proportional technique.At the same time,the research status of intelligent excavator at home and abroad and the mainstream products of each main engine factory are summarized.This project adopted load independent flow distribution(ludv)system through theoretical analysis and the dynamic characteristic analysis,on the basis of the original system,electric control optimization,use electric control handle instead of the original system of hydraulic control handle,and in each circuit working device to add a pair of electric proportional pressure reducing valve,complete the design of the electric control system and the selection of main components.According to the robot technology,the d-h coordinate of the working device is established.Through the analysis of the positive and inverse kinematics of the working device of the excavator,the mutual conversion of the driving space,the position and attitude space of the bucket teeth and the joint Angle space of the excavator working device are obtained.In order to ensure that the trajectory is a smooth line segment and that the velocity and acceleration change continuously in the process of motion,cubic polynomial interpolation and quintic polynomial interpolation are proposed and analyzed theoretically.Using AMESim software set the load sensitive variable pump,multi-way valve,electro-hydraulic proportional pressure reducing valve and the system simulation model,simulation analysis was carried out on the simulation model,according to the actual research needs,to research the development of the excavator as the prototype,the relevant program is designed,through comparing and analyzing the simulation data and experimental data was provided to verify the correctness of the established working device hydraulic system model.In view of the shortcomings of ordinary PID control effect,this paper adopts genetic algorithm and particle swarm optimization algorithm to optimize PID parameters,adopts MATLAB/Simulink to build its control system model,and through the AMESim and MATLAB joint simulation platform to carry out simulation analysis,simulation results show that using particle swarm optimization PID parameters optimization has better control effect.