The Design And Experiment Research On Hydraulic Excavator Trajectory Control System

With the extensive use of hydraulic excavators, more and more attention turns to hydraulic excavators'automated and intelligent control study. The study of automated control of hydraulic excavator has a great significance, and the trajectory control of hydraulic excavator's working device is priority research areas. Based the former hydraulic excavator experimental device, this research is to explore an effective hydraulic excavators'trajectory auto control mode by the simulation and experimental research methods.After being familiar with existing equipments in the experimental laboratory, the corresponding improvement has been done against the shortcomings of existing equipments. Use the variable frequency motor instead of the original electromagnetic speed-adjustable motor. Redesign of the hydraulic system, add electro-hydraulic proportional valve and one-way throttle valve to ensure the accuracy of automatic control and experimental safety. Design the signal acquisition system which is used to ensure the accuracy of signal acquisition.We re-model and simulate the improved system, and based on this add the conventional PID control and the BP neural network control to the system. Simulate PID control in MATLAB to determine the parameters of PID control; Established model of BP neural network and complete the BP neural network training and simulation After the preparation work of parameter setting, interconnection and program of control software is done, the actual experiment begins. Experimental facility digs the horizontal line under the control of PID and BP neural network respectively.Experimental results show that two control methods both can reach the intended target, while BP neural network control can eliminate the interference faster and the control effect is better than PID control.