Research On Bucket Trajectory Planning And Control Of Intelligent Excavator

With the continuous development of artificial intelligence technology,intelligent excavator technology has begun to flourish.Intelligent excavators can greatly reduce labor intensity,make site management more scientific,and have a higher level of informatization.There are a large number of ordinary excavators in the market,and the introduction of new intelligent excavators to eliminate ordinary excavators will cause huge economic losses.Therefore,it is of great significance to carry out intelligent development and automatic excavation research for ordinary excavators.In this context,the following studies are carried out in this paper:First of all,the kinematics modeling of excavator working device is carried out to establish the foundation for trajectory planning and control research.The working space of excavator is divided into joint space,pose space and drive space,and the conversion relationship among them is established.In order to obtain kinematic information,a set of sensor scheme was designed to introduce detection space,and four workspace conversion relationships were established.Secondly,an intelligent development scheme is designed on the existing excavator.The overall architecture is divided into intelligent excavator and remote operation terminal.A six-degree-of-freedom manipulator solution is designed to intelligently develop the excavator’s actuator.The non-rigid connection of the ball gripper and the ball handle is used to avoid the irregularity of the trajectory of the excavator operating handle.A method of splicing four space coordinate systems into a transition coordinate system is designed to realize the calculation of the target point of the manipulator,and the control logic of the manipulator is formulated so that it can control the operation handle to the specified position according to the instruction.Then,in order to realize the automatic excavation operation of the intelligent excavator,the trajectory planning and trajectory control algorithms are designed.A planning method combining multi-node cubic polynomial interpolation and two-node quintic polynomial interpolation is designed to obtain the complete trajectory of a working cycle.A simplified method is designed for the problem of too many waypoints,that is,a trajectory plan is generated from two waypoints,and a variety of task plans under typical operating scenarios are designed.For the boom,arm and bucket joints of the working device,a segmented PID control algorithm based on dead zone compensation is designed for trajectory control.Aiming at the problems such as large inertia and easy overshoot,the turret was decoupled from other joints,a first-order inertia link model with delay was constructed,and a multi-stage deceleration control algorithm based on parameter identification was designed.Finally,the simulation model of mechanical structure of excavator working device and its corresponding hydraulic circuit is built by AMESim software.The dynamic characteristics of excavator are tested by design experiment,and the simulation model is calibrated and verified by combining experimental data.A co-simulation model of AMESim and MATLAB/Simulink is built,the effectiveness of the trajectory planning and control algorithm is verified in the co-simulation,and the parameters of the trajectory control algorithm are optimized by the particle swarm algorithm.In the end,the automatic mining experiment is carried out on the experimental prototype to verify the effectiveness of the whole system.