Excavator control method and device, excavator and storage medium: Fid-Bau Portal

Excavator control method and device, excavator and storage medium

CHU HAIJUN

The invention relates to an excavator control method and device, an excavator and a storage medium, and relates to the technical field of engineering machinery. The excavator control method comprises the steps that the expected position of the tail end of a bucket of the excavator is obtained; according to the expected positions, expected angles of multiple movable joints of the excavator are obtained; actual angles and actual angular velocities of the multiple movable joints are obtained; and according to the expected angle, the actual angle and the actual angular speed, a finite time control model of the excavator and a constraint system model of the excavator are operated, and the multiple movable joints are controlled to be adjusted from the actual angles to the expected angles within the preset time range. According to the excavator control method and device, the excavator and the storage medium, the movable joint of the excavator can rapidly and accurately reach the expected angle, the angle of the movable joint is limited within the safety boundary, and the risk of safety accidents is effectively reduced.

本申请涉及一种挖掘机控制方法、装置、挖掘机及存储介质，涉及工程机械技术领域，该挖掘机控制方法包括获取挖掘机的铲斗末端的期望位置；根据期望位置，得到挖掘机的多个活动关节各自的期望角度；获取多个活动关节各自的实际角度和实际角速度；以及根据期望角度、实际角度以及实际角速度，运行挖掘机的有限时间控制模型和挖掘机的约束性系统模型，控制多个活动关节在预设时间范围内从各自的实际角度调整至各自的期望角度。本申请提供的挖掘机控制方法、装置、挖掘机及存储介质，其可以使挖掘机的活动关节快速准确地到达期望角度，并且将活动关节的角度限定在安全边界内，有效地降低安全事故发生的风险。

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