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A platform for research: civil engineering, architecture and urbanism
Dynamic control method for excavator arm of excavator
The invention discloses a dynamical control method for an excavator arm of an excavator, which comprises the following steps of: linearizing a dynamical model of the excavator arm, identifying parameters of a dynamical parameter matrix of the excavator arm, and obtaining an identified dynamical feedforward model of the excavator arm; and a feedforward signal output by the excavator arm dynamics feedforward model is input into a pre-constructed three-ring PID control system, and the three-ring PID control system outputs control results of all joints of the excavator arm. According to the dynamic control method for the excavator arm of the excavator, the inertia force, the coriolis force, the centripetal force, the gravity and the friction force generated when the excavator arm moves are calculated in real time by adopting a control mode of dynamic feed-forward and three-ring PID feedback, the excavator arm control system is designed, the dynamic precision of the excavator arm during movement can be improved, and the service life of the excavator arm is prolonged. And the reliability and stability of the excavator during movement are improved.
本发明公开了一种挖掘机挖机臂动力学控制方法，将挖机臂动力学模型进行线性化，辨识挖机臂动力学参数矩阵的参数，获得辨识后的挖机臂动力学前馈模型。将挖机臂动力学前馈模型输出的前馈信号输入预先构建三环PID控制体系，三环PID控制体系输出挖机臂各关节的控制结果。本发明提供的一种挖掘机挖机臂动力学控制方法，采用动力学前馈+三环PID反馈的控制模式，实时计算挖机臂运动时产生的惯性力、科式力、向心力、重力和摩擦力，设计了挖机臂控制系统，其能提高挖机臂运动时的动态精度，提高挖掘机运动时可靠性和稳定性。
Dynamic control method for excavator arm of excavator
The invention discloses a dynamical control method for an excavator arm of an excavator, which comprises the following steps of: linearizing a dynamical model of the excavator arm, identifying parameters of a dynamical parameter matrix of the excavator arm, and obtaining an identified dynamical feedforward model of the excavator arm; and a feedforward signal output by the excavator arm dynamics feedforward model is input into a pre-constructed three-ring PID control system, and the three-ring PID control system outputs control results of all joints of the excavator arm. According to the dynamic control method for the excavator arm of the excavator, the inertia force, the coriolis force, the centripetal force, the gravity and the friction force generated when the excavator arm moves are calculated in real time by adopting a control mode of dynamic feed-forward and three-ring PID feedback, the excavator arm control system is designed, the dynamic precision of the excavator arm during movement can be improved, and the service life of the excavator arm is prolonged. And the reliability and stability of the excavator during movement are improved.
本发明公开了一种挖掘机挖机臂动力学控制方法，将挖机臂动力学模型进行线性化，辨识挖机臂动力学参数矩阵的参数，获得辨识后的挖机臂动力学前馈模型。将挖机臂动力学前馈模型输出的前馈信号输入预先构建三环PID控制体系，三环PID控制体系输出挖机臂各关节的控制结果。本发明提供的一种挖掘机挖机臂动力学控制方法，采用动力学前馈+三环PID反馈的控制模式，实时计算挖机臂运动时产生的惯性力、科式力、向心力、重力和摩擦力，设计了挖机臂控制系统，其能提高挖机臂运动时的动态精度，提高挖掘机运动时可靠性和稳定性。
Dynamic control method for excavator arm of excavator
一种挖掘机挖机臂动力学控制方法
DING QIANG (author) / GAO JINGWEI (author) / AI YUNFENG (author) / YANG CHAO (author)
2023-03-28
Patent
Electronic Resource
Chinese
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