矿用正铲液压挖掘机人机协同控制研究
Research on Man-Machine Cooperative Control of Mining Forward Shovel Hydraulic Excavator
史继江 1褚福阳 1王振兴1
作者信息
- 1. 徐州徐工矿业机械有限公司,徐州 221005
- 折叠
摘要
针对矿用正铲液压挖掘机的人机协同控制进行研究,通过切换人机协同控制模式,动臂和铲斗液压缸能够较好地跟随所规划的轨迹运动,铲斗姿态角基本保持不变,齿尖坐标基本保持在作业高度上,满足水平推压作业要求.与驾驶员手动操作相比,人机协同控制模式能够提高作业的准确性和效率.
Abstract
This paper studies the man-machine cooperative control of mineral forward shovel hydraulic excavator.By switching the man-machine cooperative control mode,the boom and bucket hydraulic cylinder can better follow the planned trajectory,the bucket attitude angle is basically unchanged,the tip coordinate is basically kept at the operation height,to meet the requirements of horizontal push pressure operation.Compared with the driver's manual operation,the man-machine cooperative control mode can improve the accuracy and efficiency of the operation.
关键词
液压挖掘机/人机协同/控制优化Key words
hydraulic excavator/man-machine coordination/control optimization引用本文复制引用
出版年
2024
NETL
NSTL
万方数据