平整工况下三节臂挖掘机时间最优运动规划 |
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引用本文: | 智晋宁,贾旭峰,刘超,谢虎,史青录.平整工况下三节臂挖掘机时间最优运动规划[J].中国农机化学报,2022,43(11):146. |
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作者姓名: | 智晋宁 贾旭峰 刘超 谢虎 史青录 |
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作者单位: | 1. 太原科技大学机械工程学院,太原市,030024; 2. 洛阳矿山机械工程设计研究院有限责任公司,河南洛阳,471039;
3. 北方自动控制技术研究所,太原市,030006; 4. 农业农村部南京农业机械化研究所,南京市,210014
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基金项目: | 山西省高等学校虚拟仿真实验教学项目(2019114—3);中国农业科学院科技创新工程—农业生产废弃物资源化利用装备团队 |
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摘 要: | 针对市场上普通臂挖掘机作业能力有限和挖掘轨迹规划的问题,以三节臂反铲液压挖掘机为研究对象,对比分析挖掘机平整工况的作业范围,并以最短挖掘时间为目标,提出一种挖掘机平整工况的运动规划方法。首先,以工作装置各部件转角的变化范围作为边界条件,通过MATLAB对三节臂挖掘机和普通臂挖掘机平整工况的作业范围进行仿真;其次,将求解出的作业范围均分为5段,以最短挖掘时间为目标,采用粒子群优化(PSO)算法对各关节插值时间进行优化,得到满足条件的最优时间以及各个油缸的位置、速度和加速度曲线。仿真结果表明该机型平整范围比普通臂挖掘机增加1213%,各液压油缸运动平稳且满足系统流量的要求。平整工况下该机型的时间最优运动规划方法可适用于其他工况下挖掘轨迹的运动规划,最终为实现完全自动挖掘、提升作业效率和作业质量提供理论依据和技术支持。
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关 键 词: | 三节臂挖掘机 运动规划 粒子群优化算法 平整工况 |
Time optimal motion planning of three arm excavator under leveling condition |
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Abstract: | Aiming at the problems of limited operating capacity and excavation trajectory planning of ordinary boom excavators in the market, the operating range of the excavator under leveling condition is compared and analyzed taking the three section backhoe hydraulic excavator as the research object, and a motion planning method of the excavator under leveling condition is proposed, with the shortest excavation time as the goal. First of all, the working range of the three section excavator and the ordinary boom excavator under the leveling condition is simulated by MATLAB with the range of the rotation angle of each component of the working device as the boundary condition; Secondly, the solved operation range is divided into five sections, and with the shortest excavation time as the goal, the particle swarm optimization (PSO) algorithm is used to optimize the interpolation time of each joint. The optimal time that meets the conditions and the position, speed and acceleration curves of each cylinder are obtained. The simulation results show that the flattening range of this type of excavator is 12.13% more than that of ordinary boom excavator, and each hydraulic cylinder moves smoothly and meets the requirements of system flow. The time optimal motion planning method of this model under leveling conditions can be applied to the motion planning of excavation trajectory under other conditions, and ultimately provides theoretical basis and technical support for fully automatic excavation, improving operation efficiency and quality. |
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Keywords: | three arm boom excavator motion planning particle swarm optimization algorithm leveling condition |
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