Trajectory Control of Pump-Controlled Hydraulic Excavator with Integrated Energy-Storage
In order to adapt to the development trend of intelligent and energy-saving operation of construction machinery,the traj-ectory control of pump-controlled hydraulic excavator based on integrated energy-storage was proposed,in which the hydraulic cylinder was an integrated hydraulic cylinder with potential energy recovery chamber.The transformation relationship among the excavator pose space,joint space and driving space was established,then the sinusoidal acceleration and deceleration method was used to plan the traj-ectory of the leveling operation of the excavator,and the displacement curve in the corresponding driving space was obtained.The mathe-matical model of the integrated hydraulic cylinder driven by servo motor and quantitative pump was built,and its inherent characteristics were analyzed.The control strategy of the hydraulic cylinder speed feedforward and position/speed feedback double closed-loop was adopted to improve its control accuracy.Finally,the electromechanical-hydraulic co-simulation model was built in SimulationX software.The results show that the maximum error of the tip end of the bucket tooth is 17 mm,which is within a reasonable range,so the accurate control of the excavator can be achieved by using the compound control of velocity and position.
hydraulic excavatorintegrated hydraulic cylinderpotential energy recoverytrajectory planning
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