Research On Key Technology Of Copying Excavation For Excavator

The excavator is one of engineering machinery,which has the most typical function,complicated structure and widely applications and plays an important role in the morden construction.With the excavation site environmental deterioration and increased diversity of mining request,research on intelligent and robotic excavator is gradually becoming a hotspot at home and abroad.It is worth noting that the Copying Excavation technology is the key technology to realize automatization and intelligentiztion of hydraulic excavator.In order to realize the automatic excavator working device,we take the excavator working device as the main research object.The full kinematic and dynamic models were proposed based on the excavator arm.What’s more,the use of advanced CMAC+PID control algorithm combined with working device path planning strategy,completes excavator trajectory control and planning and improves the intelligent excavator.In this paper,full kinematic and dynamic models with digging resistance of the excavator arm are built in D-H coordinate system.The calculation method of slowing the oil cylinders’ lengths,which related with trajectory coordinates,is described in detail.At the same time,the correlation simulation experiments are carried out.The mathematic models of the hydraulic excavator’s controlling subsystem,which consists of arm,stick and bucket,are modelled and simulated.The time domain and frequency domain of the control subsystem are analyzed.In order to solve the problem in the traditional system,the Cerebellar Model Articulation Controller neural network CMAC+PID can get more effective results in trajectory control.The excavator work task decomposition and trajectory planning are researched and analysised.Paths are established with constrained nonlinear programming equation,and each joint movement of excavator working device movement can be more smoothly.The three dimensions model for excavator arm is derived in ADAMS.The results can achieved accurate tracking trajectories for a straight line trajectory or a diagonal line trajectory through co-simulation of MATLAB and ADAMS.Results show that the tooth error in the process of simulation within 10 mm and system is more stable,the respose is more rapidly.In addition to,the tracking performance is ideal,can be to the default control value in a short time,and can meet the actual working condition requirements.