Open AccessDynamic Analysis and Model Predictive Control of Excavator’s Working Device
Author(s) -
Penglong Zheng,
Jian Liu,
Weiwei Wu
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2195/1/012039
Subject(s) - excavator , control theory (sociology) , trajectory , feed forward , kinematics , inertia , model predictive control , control engineering , computer science , robustness (evolution) , automation , engineering , control (management) , artificial intelligence , mechanical engineering , biochemistry , chemistry , physics , classical mechanics , astronomy , gene
Aiming at the development requirements of automation and intelligence of traditional hydraulic excavator, the robot modeling theory is applied to the modeling process of it, and the general forward and inverse kinematics models of excavator working device including the hydraulic drive structure were given. Based on Lagrange equation, the dynamics model of excavator is established, and a trajectory tracking control method is proposed for this model. The tracking effect of model predictive control method on preset trajectory under different working conditions is studied by computer simulation technology. The research results show that the model predictive control can give a more accurate feedforward control force under complex working conditions, realize accurate tracking of the trajectory, and effectively reduce the control delay caused by large inertia working conditions, and has good robustness.