Research And Design Of Excavator Collaborative Control System Based On Active Disturbance Rejection Technology

With the improvement of industrial productivity,hydraulic excavators are constantly updated.The excavator control technology aiming at energy saving and emission reduction has become the primary task of current researchers.At present,the main problems of excavator control technology are that it is difficult to identify the working mode and load of the excavator at the same time,and it is difficult to stabilize the engine speed in the economic working area.To solve the above problems,this thesis uses Bi directional Gated Cyclic Unit Neural Network(Bi GRU)to identify the working mode of the excavator according to the outlet pressure of the hydraulic pump,which ensures that the load is detected at the same time of pattern recognition;Auto disturbance rejection control(ADRC)technology is used to eliminate the internal and external disturbances of the excavator,so that the actual engine speed can be quickly and stably maintained in the economic working area,so as to achieve the goal of energy saving,emission reduction and energy consumption reduction.The specific work of this thesis is as follows:(1)Relevant theoretical analysis.Research and analyze the matching principle of each component of the excavator power system,determine the working characteristics and control mode of each component,and design the matching strategy of the excavator control system.(2)Excavator pattern recognition.By analyzing the change of the front and rear main pump pressure of the excavator in the whole excavation stage,the corresponding working stages of the excavator under different pressure signals are determined.The time window method is used to extract and analyze the pressure signal of the pump,and the feature vector is constructed.The feature is processed through the Bi GRU network to identify the working stage of the excavator.(3)Design of ADRC.The differential tracker(TD)is used to quickly track the given speed signal of the excavator and extract high-quality differential signal;The extended state observer(ESO)is used to set the internal and external disturbances of the excavator as "total disturbance" and make specific compensation;The nonlinear state error feedback control law(NSLEF)is adopted to create an error feedback mechanism in the form of nonlinear combination of state errors,so that the actual engine speed can better track the given speed.(4)System simulation analysis.Through the analysis of each module of excavator,a simulation model of excavator collaborative control is built.The ADRC is used to adjust the output speed of the engine,and the simulation experiment is carried out through Matlab/Simulink.The comparison with the excavator cooperative control system under the PID controller verifies the real-time and accuracy of the ADRC technology for engine speed control.