| Excavator is a kind of construction machinery with a wide range of applications and high value creation.The existence of excavators has greatly improved the efficiency of engineering construction and has an irreplaceable role in engineering construction.Under the influence of the ever-changing modern science and technology,intelligent and unmanned operations have gradually become the development trend of excavators,enabling excavators to better cope with the complex and changing working environment and increasingly high operating requirements.The purpose of this paper is to realize the planning and control of unmanned excavator operation trajectory,using variable universe fuzzy PID control algorithm to improve the trajectory control effect of excavator working device.The main work of this paper is as follows:The development trend of unmanned excavators and related technologies is introduced,the functional requirements of unmanned excavators are determined,and the overall design scheme of the unmanned excavator control system is proposed.On this basis,the hydraulic system reconstruction method was proposed,and the hardware selection design of the perception system was completed.The kinematics analysis of the unmanned excavator working device is carried out,and the variable conversion relationship among the driving space,joint space and pose space of the unmanned excavator working device is determined.Completed the mathematical modeling of the main hydraulic components in the hydraulic system.Under different operating conditions,analyze the hydraulic system.The Monte Carlo method was used to obtain the bucket tooth tip movement range,and the bucket tooth tip movement track of the excavation operation was determined.The trajectory planning is completed in the joint space through the 3 times NURBS curve interpolation method,and the position sequence of each joint angle during excavation operation is obtained.The trajectory control problem is solved by the variable universe fuzzy PID control algorithm,and the comparison simulation based on simulink proves that the variable universe fuzzy PID controller has a good control effect.Establish the controlled object model through AMESim software,complete the PLC programming on Code Sys software,use simulink as the semi-physical simulation platform to realize the data exchange between the virtual controlled object model established by AMESim and the actual PLC,and build unmanned excavator work The semi-physical simulation system of the device.The hardware-in-the-loop simulation is used to verify the correctness of the PLC program and the effectiveness of the variable universe fuzzy PID control algorithm.The hardware-in-the-loop simulation results show that the controller can control the controlled object model established by AMESim,and the variable universe fuzzy PID controller can complete the trajectory control task well,and the error can be kept within 20 mm. |
