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A platform for research: civil engineering, architecture and urbanism
Excavator track control method and device, excavator and storage medium
The invention discloses an excavator track control method and device, an excavator and a storage medium. The excavator track control method comprises the steps that a motion track of the excavator is obtained, and an initial control signal of a motion mechanism in the excavator at the current moment is obtained according to the motion track; parameters used for representing the actual load of the motion mechanism at the same moment are obtained, and the adjustment amount of the initial control signal is obtained on the basis of the parameters; and the initial control signal is adjusted by using the adjustment amount to obtain a final control signal of the motion mechanism at the current moment. Therefore, the track control method also has good precision under the conditions of high load and variable load, and meanwhile, the problem that the track feedback control has a larger lagging phenomenon when being just started can be solved.
本发明公开了一种挖掘机轨迹控制方法、装置、挖掘机及存储介质，其中挖掘机轨迹控制方法包括：获取挖掘机的运动轨迹，根据所述运动轨迹得到当前时刻所述挖掘机中运动机构的初始控制信号；获取同一时刻用于表征所述运动机构实际负载的参数，基于所述参数得到所述初始控制信号的调整量；利用所述调整量对所述初始控制信号进行调整得到所述当前时刻所述运动机构的最终控制信号。由此可以使得轨迹控制方法在高负载、变负载的情况，也同样具有较好的精度，同时可以解决轨迹反馈控制在刚启动时出现较大滞后现象的问题。
Excavator track control method and device, excavator and storage medium
The invention discloses an excavator track control method and device, an excavator and a storage medium. The excavator track control method comprises the steps that a motion track of the excavator is obtained, and an initial control signal of a motion mechanism in the excavator at the current moment is obtained according to the motion track; parameters used for representing the actual load of the motion mechanism at the same moment are obtained, and the adjustment amount of the initial control signal is obtained on the basis of the parameters; and the initial control signal is adjusted by using the adjustment amount to obtain a final control signal of the motion mechanism at the current moment. Therefore, the track control method also has good precision under the conditions of high load and variable load, and meanwhile, the problem that the track feedback control has a larger lagging phenomenon when being just started can be solved.
本发明公开了一种挖掘机轨迹控制方法、装置、挖掘机及存储介质，其中挖掘机轨迹控制方法包括：获取挖掘机的运动轨迹，根据所述运动轨迹得到当前时刻所述挖掘机中运动机构的初始控制信号；获取同一时刻用于表征所述运动机构实际负载的参数，基于所述参数得到所述初始控制信号的调整量；利用所述调整量对所述初始控制信号进行调整得到所述当前时刻所述运动机构的最终控制信号。由此可以使得轨迹控制方法在高负载、变负载的情况，也同样具有较好的精度，同时可以解决轨迹反馈控制在刚启动时出现较大滞后现象的问题。
Excavator track control method and device, excavator and storage medium
一种挖掘机轨迹控制方法、装置、挖掘机及存储介质
SUN HONGYUAN (author) / WANG WEI (author) / JIANG WENSHENG (author)
2021-06-18
Patent
Electronic Resource
Chinese
IPC:
E02F
Baggern
,
DREDGING
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