【作者】 张园成；

【导师】 张远深；

【作者基本信息】 兰州理工大学 ， 机械电子工程， 2011， 硕士

【摘要】 液压挖掘机是一种功能典型、工况复杂、用途非常广泛的工程机械。随着计算机技术、电子技术、传感器技术、机电一体化技术的发展,液压挖掘机也正逐渐成为多种高新技术综合集成的载体,向着高效率、高可靠性、安全节能及自动化、智能化的方向发展。智能挖掘机的最终目的是代替传统的挖掘机,以拓展应用领域,适应恶劣的工作环境,提高任务质量,同时降低成本。本文在传统挖掘机的基础上,增强挖掘机感知能力,提出了发展触觉感知挖掘机,并对整机控制系统架构,功能及挖掘作业的控制进行了尝试性的探索。针对触觉感知挖掘作业需要,确定了挖掘机触觉感知作业的功能要求和总体方案。参阅相关资料建立了挖掘机工作装置的运动学和动力学模型,并讨论了挖掘机触觉增强系统设计及控制算法。基于AMESim和SIMLINK,建立了针对挖掘机系统仿真模型。基于联合仿真模型,研究了触觉增强力、位控制、振动挖掘、阻抗控制及障碍物表面跟踪等典型工况的控制算法。并对仿真结果进行了分析,得出如下的结论:1,轨迹控制,这样一种刚性控制,显然不能满足实现工作环境的需要。在实际上加入柔性的控制,及力的控制,在调整位置控制的同时,可以避免挖掘过程中的冲击。2,通过对铲斗挖掘中力与位置的开关切换控制和阻抗控制的结果来看,力与位置的切换控制,因为其控制模式的切换,当从一种控制向另一种控制切换时,会为系统带来冲击,阻抗控制更加适合于在控制过程,分界面发性冲击时的缓冲,实现位置和力控制的统一控制。3,采用基于力和位置的混合控制,可以完成对障碍物的表面进行跟踪。4,不同的土质地条件有各自适合的挖掘方式。采用合适的挖掘方法,可以更好发挥出机器的潜能。为以后的进一步研究做了理论准备和指明了方向。更多还原

【Abstract】 Hydraulic excavator is a kind of widely used construction equipment with the typical functions and complicated working conditions. With computer technology, electronic technology, sensor technology, mechanical and electrical integration technologies are improved, hydraulic excavator is also becoming the carrier of a variety of high-tech comprehensive integration towards high efficiency, high reliability, security, energy and automation, intelligent Direction. The final purpose of excavator robot is to take place of the traditional hydraulic excavator ,to expand the applied field, to adapt to the badly and dangerous conditions, to improve the construction quality, and to reduce the cost of manpower.In this paper, based on the traditional excavator to enhance excavator perception, proposed the development of haptical enhanced robot, and probe the ways of the machine control system architecture, function, and manipulator operations. In order to meeting the need of haptic enhanced robotic excavator, I draw up the robotic excavator job requirements and overall program. Refer to the relevant information to establish a robotic excavator kinematics, dynamics of working device model, and discussed the haptic enhanced robotic excavator system design.Based on AMESim and SIMLINK, established a simulation model for the robotic excavator system. Based on the combined simulation model, studied the control algorithm of force control, position control, vibration excavating control, impedance control , obstacles surface tracking control ,and so on ,typical manipulator operations .The simulation results are analyzed for further study ,pointed out the direction of the further research.更多还原