动态协同算法在挖掘机器人控制的优化研究
Optimization of Dynamic Cooperative Algorithm in the Control of Mining Robot
李维宇 1王玉璟2
作者信息
- 1. 河南轻工职业学院,河南 郑州 450000
- 2. 河南大学计算机与信息工程学院,河南 开封 475004
- 折叠
摘要
针对矿用挖掘机器人的控制耦合特性,提出了动态协同优化控制算法.首先,将机器人的设计优化系统解耦到水平/垂直运动空间中,以减弱各液压回路之间的强耦合关系,将空间姿态系数引入水平/垂直运动空间的主/辅反馈控制回路,在各控制回路之间弱耦合的前提下,获得各液压回路的精确动态控制信号,最终实现了机器人整体系统的最优控制.最后,通过实验和仿真验证了所提出的动态协同优化控制算法的有效性,机器人空间姿态控制中具有较优的瞬态调节性能和稳定性.
Abstract
According to the control coupling characteristics of mining robot,a dynamic cooperative optimization control algo-rithm is proposed.Firstly,the design optimization system of the robot is decoupled into the horizontal/vertical motion space to weaken the strong coupling relationship between the hydraulic circuits.The spatial attitude coefficient is introduced into the main/auxiliary feedback control circuits in the horizontal/vertical motion space.With the weak coupling between the control circuits,the accurate dynamic control signals of each hydraulic circuit are obtained,and finally the optimal control of the overall robot sys-tem is realized.Finally,the effectiveness of the proposed dynamic cooperative optimization control algorithm is verified by experi-ments and simulations.The robot has better transient adjustment performance and stability in space attitude control.
关键词
挖掘机器人/动态协同优化/空间姿态系数/控制算法Key words
Mining Robot/Dynamic Collaborative Optimization/Space Attitude Coefficient/Control Algorithm引用本文复制引用
基金项目
河南省科技厅高新技术领域科技攻关计划(202102210153)
出版年
2024
NETL
NSTL
万方数据