Optimization of Dynamic Cooperative Algorithm in the Control of Mining Robot
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.
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