Simulation Research Of Excavator Trajectory Control System Based On Rigid-Flexible Coupling Analysis

With the development of artificial intelligence The intelligentization of hydraulic excavators is also developing rapidly,which will greatly improve the working efficiency of the excavators and reduce labor intensity and labor costs.The excavators can also smoothly and efficiently complete many danger ous actions and work in hazardous situations.With the help of laboratory small excavator modeling,this subject aims to provide a method basis for R&D and production through analysis of excavator models,and to compare and analyze performance indicators to design a more reasonable high-performance excavator trajectory controller.The research content of this paper mainly includes the rigid-flexible coupling analysis of the excavator,and the control system is modeled based on it,and then the two types of controllers are designed to complete the comparative simulation analysis of the performance indicators.Based on the rigid body dynamics simulation analysis,the corresponding work cycle history analysis is carried out.The results show that the driving function is reasonable,and the corresponding force and moment load time history are given to prepare for the subsequent finite element analysis.On the basis of the rigid-flexible coupling simulation analysis,the rigid body analysis is compared to obtain the conclusion of the necessity of studying flexible deformation.The load time history of the maximum stress is analyzed,used to check the material strength and safety factor,give the stress cloud to get the dangerous parts,and provide a better basis for the development and production of excavators and subsequent optimization and improvement.Before the rigid-flexible coupling analysis of the excavator,the correctness verification method of the pose mathematical model and the virtual prototype model is given,and the corresponding theoretical basis is given.Based on the rigid-flexible coupling model,the system identification data fits the mechanical structure link Transfer function,and then calculate the transfer function of the remaining links.In order to realize computer digital control and prepare for the subsequent controller function writing,the continuous transfer function of the discretized system is used to obtain its pulse transfer function and difference equation.After analyzing the performance shortcomings of the original control system,in order to improve the control performance,on the basis of the discretized transfer function,the integral separation digital PID controller and the improved algorithm BP-PID controller are designed,and the algorithm flow is designed in MATLAB software The S function of the control algorithm is written in to complete the parameter setting and simulation of the controller.By comparing and analyzing the performance indexes of the two controllers themselves and the speed,stability and accuracy of the original control system,the results show that the improved BP-PID controller has the best control effect and has the system parameter adaptability.