【摘要】 挖掘机执行机构轨迹的精确控制是实现其智能化、无人化发展的基础。针对泵控/阀控相耦合的负载敏感(Load Sensitive, LS)系统挖掘机，提出了一种自适应的模糊PID控制方法(Fuzzy-PID)以实现LS挖掘机执行机构位姿的精确控制。该方法不依赖离线计算，可实现作业过程中PID参数的整定。建立LS挖掘机联合仿真模型对Fuzzy-PID的控制性能进行验证，结果表明，Fuzzy-PID控制精度更高，与PID相比，其均方根误差(Root Mean Square Error, RMSE)减少了23.85%。进一步，通过发动机转速及斗杆运行速度验证了Fuzzy-PID稳定性和响应性。研究结果可为负载敏感系统液压挖掘机智能化升级提供理论指导及工程应用价值。更多还原

【Abstract】 Accurate control of actuators trajectory is the foundation for the intelligent and unmanned development of excavators. An adaptive Fuzzy-PID control method is proposed to achieve the trajectory precise control of excavator actuators in load sensitive(LS) system. The method does not rely on off-line calculation and tune the PID controller parameters during operation. A co-simulation model for the LS system excavator is established to verify the control performance of Fuzzy-PID. The results show that-compared with the PID-the Fuzzy-PID control has higher accuracy and the root mean square error(RMSE) is decreased by 23.85%. Further, the Fuzzy-PID stability and responsiveness are verified by engine speed and arm operated speed. The research results can provide theoretical guidance and engineering application value for the intelligent upgrading of LS hydraulic excavators.更多还原