Research On Optimal Excavation Trajectory Planning Of Mining Shovel

Currently,the state advocates giving priority to the development of open-pit mines in the resource extraction industry,encouraging a continuous increase in the percentage of open-pit coal mining methods,and electric shovels are important equipment in openpit mining.This article is based on the National Natural Science Foundation of China’s:Research on Collaborative Design and Intelligent Operation of Large-scale Mining Electric Shovels Adapted to Complex Environment.A system model for the excavation work device of the electric shovel is established,and the excavation trajectory of the electric shovel is studied with the goal of minimizing the excavation energy consumption per unit volume of material.Firstly,the current research status of electric shovels at home and abroad,as well as the research methods for system modeling and mining trajectory planning,were analyzed.Then,based on the characteristics of mining operations in electric shovels,an overall research plan for mining trajectory planning was developed.Secondly,the movement characteristics of the mining shovel’s mining working device are analyzed,and the working device is simplified to analyze the respective and cooperative movement laws of the lifting and pushing mechanisms in the mining process.The relationship between the position and posture of the end of the bucket tooth tip and the joint variables is sought,and the forward and inverse kinematics solutions are obtained.The key points of the component are analyzed for speed,and the kinematics model of the working device is established.Thirdly,statics analysis is carried out in combination with the kinematics model of the excavator working device of the electric shovel to determine the calculation methods of excavation depth,excavation material volume and excavation resistance in the excavation process,and the dynamic model is established in combination with the Lagrange equation method to provide theoretical calculation basis for trajectory planning.Then,combined with the kinematics and dynamics model of the shovel,the boundary conditions of the trajectory planning and the calculation method of the objective function are determined,the mining trajectory is fitted by polynomial interpolation,and then combined with the particle swarm optimization,the trajectory planning is programmed and simulated in MATLAB with the minimum energy consumption per unit volume of material as the objective function,and the optimal mining trajectory that meets the boundary conditions is planned,and the displacement,speed The acceleration,lifting force,and pushing force curves determine whether the motion process of the excavation trajectory is reasonable.Finally,the mechanical structure and sensor system of the electric shovel experimental platform were introduced.A simulation program for mining trajectory tracking was written using a PID controller in Simulink to simulate the effectiveness of trajectory tracking.Afterwards,an experimental control program was written to compare the energy consumption required for different excavation speeds and trajectories during a single excavation.The experimental results verified the effectiveness and rationality of the optimal excavation trajectory planning method proposed in this thesis,with the objective function of minimizing the energy consumption required for excavating unit material volume.