【摘要】 针对挖掘机器人工作装置及其液压驱动系统模型非线性强的特点,研制出一个基于知识的、多模式综合的轨迹跟踪控制系统。该系统具有"砰 砰控制"、维持控制、非线性死区补偿控制和模糊PID参数自适应控制等模式。根据工作轨迹跟踪误差和误差变化率的反馈,系统会基于知识,智能地选用或换用合适的控制模式,实现平稳和高精度的轨迹跟踪控制。为了提高液压执行器的性能,采用负荷传感负流量控制策略提高先导电液比例阀的操作性能,并结合液压泵的交叉功率传感控制减少液压能耗。更多还原

【Abstract】 A trajectorytracking controller based on knowledge and the combination of multicontrol modes is designed in the light of the strong nonlinearity characterizing the linkage and hydraulic drive of the robotic excavator. The controller is developed from a synthesis of algorithms including BangBang, maintenance, nonlinear deadzone compensation and selfadaptation of fuzzy PID parameters. For the purpose of smooth and highprecision trajectory tracking, the controller can intelligently select or change to a suitable control mode with control expert knowledge based on feedback from trajectory tracking error and error change rate. To enhance the performance of hydraulic actuators, the method has made use of the negative load sensing control and crosssensing power control.更多还原