【摘要】 为了实现挖掘机操作臂的轨迹控制,需要对各关节油缸位置进行控制。建立了挖掘机电液系统的非线性数学模型。由于挖掘机会在自由空间和约束空间运动,因此采用了阻抗控制。又考虑到挖掘机电液系统的非线性和不确定性,因此将变切换函数的滑模控制用于阻抗控制中,使得系统存在不确定性时,控制器仍然能保持较高的控制精度。滑模控制渐进驱动系统状态以执行目标阻抗,在对操作臂进行位置控制的同时进行力控制。针对所设计的控制器进行了仿真,给出了位置跟踪和力跟踪的效果。更多还原

【Abstract】 To realize the trajectory control of excavator’s arm,the position control of each joint’s cylinder is necessary. The nonlinear model of excavator’s electrohydraulic system was designed. Impedance control was applied because the excavator would move in both free space and constrained space. Considering the nonlinear and uncertainty of excavator’s electrohydraulic system,the sliding mode control with variable switching coefficient was used into impedance control to guarantee high control precision in the presence of uncertainty. The sliding mode control asymptotically drived the system state to implement the target impedance and it could satisfy position control and force control at the same time. Simulation was carried out aiming at the designed controller and the effects of position tracking and force tracking were presented.更多还原