【摘要】 针对单斗液压挖掘机工装轨迹自动控制这一热点课题,通过机、电、液控制系统的数学建模,将比例积分微分(PID)控制及反向传播(BP)神经网络控制应用在该系统,并针对挖掘机的动臂进行了仿真.通过仿真结果,分析了系统的动态响应、稳定性和稳态误差,为进一步将BP网络实际应用于挖掘机轨迹控制提供了理论依据.更多还原

【Abstract】 Aiming at the hot research area that automatic control of the track of working device of hydraulic excavator, this article constructs the mathematic model of the control system in mechanism ,electron and hydraulic and utilizes proportional integral derivative cfontrol (PID) and back propagation(BP) networks. Aiming at the arm of the excavator, this article also simulates the system. From the result of the simulation, we analyze the dynamic response、stability and steady error of the system. And it presents theoretical basis for applying BP network to practical excavator track control.更多还原