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针对滑移装载机进行铲掘作业时的效率低和操作手的重复劳动强度大的问题,对滑移装载机进行半自动化改造。首先运用机器人学理论和拉格朗日法,推导出滑移装载机工作装置的运动模型,对铲掘轨迹进行规划。然后在原有系统中加入可快速切换的电液比例控制系统,并建立了工作装置电液系统的数学模型,设计出模糊自整定PID控制器。轨迹跟踪仿真结果表明:该套电液比例控制系统能有效地实现滑移装载机工作装置自动铲掘作业的运动跟踪。
The semi-automatic transformation of the skid steer loader is aimed at the problem of low efficiency in the skid steer operation and repetitive work intensity of the operator. First of all, using the theory of robotics and Lagrange method, the movement model of the working device of skid steer loader is deduced, and the shovel trajectory is planned. Then the electro-hydraulic proportional control system which can be quickly switched is added into the original system, and the mathematical model of the electro-hydraulic system of the working device is established, and the fuzzy self-tuning PID controller is designed. The results of trajectory tracking simulation show that the electro-hydraulic proportional control system can effectively track the movement of the working equipment of the skid steer loader.