Research On Working Attitude Recognition And Control Method Of Large Mining Excavator For Unmanned Driving

Large mining hydraulic excavators are mainly used for open-pit mining and largescale infrastructure projects,characterized by large working weight,high installed power,harsh working environment,and high energy consumption.In recent years,extensive research has been conducted both domestically and internationally on advanced technologies such as hydraulic energy conservation,hybrid power,and power transmission matching for large mining excavators.The problems of high fuel consumption,poor emissions,and poor power utilization of traditional mining excavators have been largely solved.However,problems such as difficult operation and low safety of mining excavators still seriously constrain production efficiency,and unmanned operation is an effective way to solve these problems,The prerequisite for unmanned excavators is the ability to accurately identify and control the posture of their working devices.Therefore,this article focuses on the unmanned requirements of large mining excavators and studies the attitude recognition and control methods of large mining excavators in open-pit mining environments,achieving accurate and reliable real-time attitude recognition and control.The main content of the thesis is as follows:(1)In response to the functional requirements of the posture recognition and control system for unmanned large-scale mining excavators,the overall design scheme of the excavator measurement and control system has been completed.On this basis,the hardware selection and software design of the measurement and control system were completed with an industrial computer(IPC)as the core.(2)Completed research on attitude recognition methods for large mining excavators.Through the transformation of excavator coordinate system,the excavator positioning and chassis attitude recognition are completed,and the D-H model of excavator rotating body and working device is established.Based on this,the kinematics analysis of excavator working device and rotating body is completed,and the working attitude recognition method of large mining excavator is proposed.(3)The attitude control method of large mining excavator is studied.An analysis was conducted on the electro-hydraulic proportional system of the excavator,and a nonlinear mathematical model of the system was established.At the same time,a state space equation and a transfer function model were established.On this basis,PID and PVA controllers for attitude control of large mining excavator are designed and analyzed.Through joint simulation,the response speed and control effect of PVA controller are better than those of PID controller.(4)Completed experiments on attitude recognition and control of large mining excavators.First,the attitude recognition experiment was carried out on the experimental platform of a large mining excavator to verify the feasibility and accuracy of the attitude recognition method.Then,the excavator single action experiment was carried out to compare the trajectory tracking effect of PID and PVA controllers.The PVA controller trajectory tracking error was smaller.Finally,the excavator composite action experiment was carried out to verify the practicability and control performance of the excavator attitude control method.The thesis has 76 figures,13 tables,and 95 references.