Trajectory Planning And Hydraulic System Simulation Analysis Of Excavator Manipulator

At present,hydraulic excavator is one of the most widely used engineering machines in engineering construction,which plays a very important role in engineering construction.With the continuous improvement of the working requirements of excavators and the complexity and diversity of their working objects and surrounding environments,the intellectualization of excavators has become a hot topic in the research of construction machinery,the research on trajectory planning and integrated optimization and control algorithm of excavator is one of the key technologies of its intelligentization.In this paper,the main goal is to improve the automation and intelligence of excavators,the main research object is the Mechanical arm of excavators,the manipulator of excavators for kinematics and dynamics modeling,on this basis,in this paper,the inverse problem of the manipulator of excavators is solved by particle swarm optimization(PSO)and geometric method,and the advantages and disadvantages of the two methods are compared,especially the problem of trajectory planning of excavators in the process of excavation,the advantages and disadvantages of six different interpolation methods in trajectory planning are discussed,two optimization criteria based on are proposed,and optimized by using differential evolution algorithm,genetic simulated annealing algorithm and ga-ii algorithm.The hydraulic simulation analysis of the excavator manipulator is carried out,and the curves of the pressure and flow rate of each cylinder during the operation of the excavator are analyzed,and the tracking curves of the displacement of each cylinder under PID control are obtained.In the three-dimensional modeling software,the excavator entity is established,the constraint pair is added in the Adams software,the PID controller and the mold/PID controller are established by using SIMULINK,and the model of the excavator manipulator with the constraint pair added in Adams is combined,the simulation of kinematics control is completed and the step response curves of the two control strategies are obtained.The model and PID controller has better robustness and good self-adaptability to the non-linear excavator manipulator.