Research On Typical Operating Phases Identification And Working Devices Track Control Of Intelligent Excavator

At present,in construction machinery,hydraulic transmission is widely used due to the advantages of large energy capacity,stable transmission,and strong speed regulation ability.Hydraulic excavators are widely used in infrastructure construction for their strong working ability and flexibility.With the vigorous development of new technologies such as artificial intelligence,research on construction machinery has been combined with intelligence.This paper uses nonlinear control theory and deep learning related theories to study the working devices of intelligent hydraulic excavators.The research content involves working device mechanics modeling,working stage recognition,trajectory control and the establishment of a multi-physics simulation platform.1.Perform static analysis on the mechanical structure of the working group of the excavator,and derive the static output force formula of the piston rod of each actuator under different joint angles,and the relationship between the joint angle and the length of the actuator cylinder and the force acting distance.In terms of dynamic analysis,the dynamic equation of the robotic arm system is constructed based on the second type of Lagrange equation.2.The method of depth vision is introduced to identify these three characteristic areas of the excavator body,the hinge point of the stick and the bucket.The Yolo algorithm is used to establish a detector,and combine with the oil pressure information to determine the target state.Based on action sequence state machine,the positions of the characteristic areas and the pressure of the large and small chambers are considered comprehensively to complete the work phase identification.3.Considering the dynamic equation of the robotic arm for trajectory planning,choosing a fifth-order polynomial as the trajectory,and aim at the optimal energy consumption.Considering power source constraints,the optimal compound action and single action are performed.Through comparative analysis,compound actions have more advantages in terms of energy consumption and efficiency.In terms of trajectory tracking,considering the force of the working device during the movement,combined with the mathematical model of the single actuator system,sliding mode control,optimal PID control and feedback linearization controller are designed,and the control effect is simulated and compared.4.Based on three-dimensional modeling software and toolboxes such as Mechanical,Hydraulic and Stateflow on the Matlab software platform,a relatively complete multi-physics simulation platform is established.With the help of this platform,the PID control and feedback linear controller parameters are optimized to realize the valve opening control of each actuator,and finish the trajectory tracking of the typical operation process of the excavator.