CN107882103A - A kind of excavator 3 d pose is shown and Remote Automatic Control System - Google Patents
A kind of excavator 3 d pose is shown and Remote Automatic Control System Download PDFInfo
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- CN107882103A CN107882103A CN201711014949.7A CN201711014949A CN107882103A CN 107882103 A CN107882103 A CN 107882103A CN 201711014949 A CN201711014949 A CN 201711014949A CN 107882103 A CN107882103 A CN 107882103A
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 238000010411 cooking Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 claims 2
- 239000010720 hydraulic oil Substances 0.000 claims 1
- 238000004088 simulation Methods 0.000 abstract description 7
- 238000006243 chemical reaction Methods 0.000 abstract description 5
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- 238000004458 analytical method Methods 0.000 description 3
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
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- Operation Control Of Excavators (AREA)
Abstract
Shown the invention discloses a kind of excavator 3 d pose and Remote Automatic Control System, the displacement signal of boom cylinder, dipper hydraulic cylinder, bucket hydraulic cylinder is gathered by stay-supported type displacement sensor, is sent by data collecting card to computer；Vehicle body angle of revolution signal is gathered by electronic compass, sent by RS232 serial ports to computer；Computer is stored and handled to data, the 3 D Dynamic Graphics Simulation posture of real-time display excavator；Plan the track of desired scraper bowl end；According to the actual displacement of equipment and vehicle body revolution signal, and by kinematics conversion running control algolithm, track is corrected compared with desired track data；Using CAN communication mode, the communication of computer and excavator DSP controller special data is realized；Monitoring running state information in real time；The three-D displacement curve of real-time display X, Y, Z axis scraper bowl crown running orbit and scraper bowl crown；Remote auto control is realized using the WEB service of virtual instrument.
Description
Technical field
Shown the present invention relates to a kind of excavator 3 d pose and Remote Automatic Control System.
Background technology
Excavator had all played important function in rescue and relief work and post-disaster reconstruction in recent years, was needed badly open under these operating modes
A kind of system that can ensure operator's safety and operation quality is sent, some three-dimensional visualization techniques have been used in excavator
On, but these software phase lock loops are not strong, development difficulty is big and can not perfectly coordinate with TT＆C system, it is difficult in engineering
Realize.Show the 3 d pose of excavator and operating efficiency and operation matter can be increased substantially using remote auto control
Amount, it is ensured that personal security.Meanwhile excavator remote monitoring, control algolithm research, analysis of experimental data, working trajectory optimization,
Being also required to one in the research such as design of Hydraulic System can be with real-time automatic collecting excavator running state information and man-machine interaction control
The Visualization Platform of system.
The content of the invention
Shown it is an object of the invention to provide a kind of excavator 3 d pose and its Remote Automatic Control System, by this
System can realize the 3 D Dynamic Graphics Simulation posture of real-time display excavator, monitor running state information in real time, accurate and steady
Surely the action of excavator is controlled, plans the track of desired scraper bowl end, realizes excavator remote auto control, improves operation
Efficiency and operation quality, it is ensured that personal security.
In order to solve the above-mentioned technical problem, show the invention discloses a kind of excavator 3 d pose and its remote auto control
System processed, including excavator operation module, data acquisition module, real-time track computing module, TRAJECTORY CONTROL module, operation information
Monitoring modular, data memory module and three-dimensional visualization module,
The excavator operation module includes operation handle, computer, dsp controller, electro-hydraulic proportional valve and multichannel valve group
Into fluid control loop, pioneer pump, front pump and rear pump group into fuel feeding element, boom cylinder, dipper hydraulic cylinder, scraper bowl liquid
The executing agency of cylinder pressure and rotary motor composition, and boom cylinder stay-supported type displacement sensor, dipper hydraulic cylinder stay-supported
The number that displacement transducer, bucket hydraulic cylinder stay-supported type displacement sensor, electronic compass, data collecting card and USB-CAN cards form
According to collecting mechanism；
Pioneer pump is adjusted to the fuel feeding size of electro-hydraulic proportional valve and side according to operation handle and the control signal of computer
To so as to produce corresponding valve element aperture and direction of action；Banked direction control valves receives the signal from electro-hydraulic proportional valve and produced corresponding
Valve element aperture, so as to control the changes in flow rate of front pump and rear pump, make boom cylinder, dipper hydraulic cylinder, bucket hydraulic cylinder and
Rotary motor produces corresponding action, and above-mentioned signal acquisition and processing are completed in dsp controller, and dsp controller is with calculating
Machine passes through USB-CAN card bus interface real-time communications；
Swing arm stay-supported type displacement sensor is installed on boom cylinder, dipper bracing wire is installed on dipper hydraulic cylinder
Formula displacement transducer, scraper bowl stay-supported type displacement sensor is installed on bucket hydraulic cylinder, electricity is installed on driver's cabin top
Sub- compass；
The data collecting module collected boom cylinder, the displacement of dipper hydraulic cylinder and bucket hydraulic cylinder and time of vehicle body
Gyration information, and by boom cylinder stay-supported type displacement sensor, dipper hydraulic cylinder stay-supported type displacement sensor bucket hydraulic
The signal output of cylinder stay-supported type displacement sensor and electronic compass is to real-time track computing module；
The real-time track computing module calculates scraper bowl crown movement locus and three-D displacement is bent according to the signal of reception
Line is simultaneously exported to three-dimensional visualization module；
The three-dimensional visualization module is according to the three-dimensional real-time attitude of the data real-time display excavator of reception；
The TRAJECTORY CONTROL module is used to carry out TRAJECTORY CONTROL, including real-time track control module and trajectory planning module；
The communication dynamic link library file that the real-time track control module is directly invoked in USB-CAN cards realizes swing arm liquid
The transmission of cylinder pressure, dipper hydraulic cylinder, bucket hydraulic cylinder and rotary motor displacement data, passes through controller local area network CAN
(Controller Area Network, CAN) carries out the data exchange of computer and dsp controller, and dsp controller receives
The direct control to the motion of boom cylinder, dipper hydraulic cylinder, bucket hydraulic cylinder and rotary motor is realized after these data；
The trajectory planning module is used for the track data for cooking up desired scraper bowl end；
The operation information monitoring modular is used for real-time display excavator running state information；
The data memory module is used to store excavator running state information and scraper bowl crown movement locus；
The excavator running state information includes：Hydraulic fluid temperature, cooling water temperature, engine oil pressure, fuel level, hair
Motivation rotating speed, front pump principal pressure, rear pump principal pressure, front pump proportioning valve electric current, rear pump proportioning valve electric current, swing arm handle voltage, bucket
Bar handle voltage, scraper bowl handle voltage, rotary handle voltage, left threading voltage, right threading voltage, the big chamber pressure of boom cylinder
Power, the small cavity pressure of boom cylinder, the big cavity pressure of dipper hydraulic cylinder, the small cavity pressure of dipper hydraulic cylinder, the big chamber pressure of bucket hydraulic cylinder
Power, the small cavity pressure of bucket hydraulic cylinder.
System performs following steps：
Step 1, the three-dimensional visualization model for establishing excavator：The 3D solid mould of excavator is established in SolidWorks
Type, position relationship and movement relation between completion boom cylinder, swing arm, dipper hydraulic cylinder, dipper, bucket hydraulic cylinder and scraper bowl
Foundation；On the equipment formed by angle of revolution and by swing arm, dipper and scraper bowl the displacement of each hydraulic cylinder respectively with it is corresponding
The rotary shaft of model coordinate is connected, by the displacement information of boom cylinder, dipper hydraulic cylinder and bucket hydraulic cylinder be converted into around
The rotation amount of each reference axis in three dimensions；
Step 2, data collecting module collected swing arm stay-supported type displacement sensor, dipper stay-supported type displacement sensor and scraper bowl
The signal of stay-supported type displacement sensor, and the shift value that the information of voltage collected is converted into actually measuring, pass through electronics sieve
Disk measures angle of revolution, and shift value and angle of revolution are sent to real-time track computing module；
Step 3, real-time track computing module calculate X, Y, Z axis scraper bowl crown movement locus and three-D displacement curve；
Step 4, operation information monitoring modular are connected by USB-CAN cards with the CAN mouths of dsp controller, and will be from DSP
The address in excavator operation information message ID character strings and the transmission to CAN of setting that controller receives is matched, from
And parse corresponding excavator running state information and shown；
Step 5, data memory module real-time storage excavator running state information and X, Y, Z axis scraper bowl crown motion rail
Mark.
Step 3 includes：
Step 3-1, the structure diagram of excavator under D-H coordinate systems is established, revolution coordinate system is established in centre of gyration O points,
θ1For angle of revolution；The pin joint C of swing arm and base establishes swing arm coordinate system, θ2For swing arm joint angle；Dipper and swing arm pin joint
F establishes dipper coordinate system, θ3For dipper (104) joint angle (i.e. joint rotation angle)；Dipper establishes scraper bowl coordinate with scraper bowl pin joint Q
System, θ4For scraper bowl joint angle；Scraper bucket tooth cusp V establishes crown coordinate system；A points are that boom cylinder is hinged with vehicle body pedestal
Point；B points are boom cylinder and swing arm pin joint；D points are dipper hydraulic cylinder and swing arm pin joint；E points be dipper hydraulic cylinder with
Dipper pin joint；F points are dipper and swing arm pin joint；Q points are dipper and scraper bowl pin joint；N points are rocking arm and dipper pin joint；
S points are bucket hydraulic cylinder and articulated point of rocker arm；K points are connecting rod and scraper bowl pin joint；
Step 3-2, joint rotation angle is calculated according to below equation：
Step 2 data acquisition module swing arm stay-supported type displacement sensor, dipper stay-supported type displacement sensor and scraper bowl are drawn
Wire type displacement sensor to boom cylinder, dipper hydraulic cylinder, the displacement of bucket hydraulic cylinder and electronic compass measure back
Gyration is converted into joint angle θ2、θ3、θ4And θ1, using equation below, according to joint angle θ2、θ3、θ4And θ1Calculate scraper bowl end
Coordinate V (x, y, z) and scraper bowl attitude angle ζ：
Wherein, a1For pin joint C and the length of centre of gyration O points in the horizontal direction；d1For pin joint C and centre of gyration O
The length of point in the vertical direction；a2For CF length；a3For FQ length；a4For QV length.
The process that the TRAJECTORY CONTROL module carries out TRAJECTORY CONTROL includes：
Step 101, real-time track control module directly controls boom cylinder, dipper hydraulic cylinder, bucket hydraulic cylinder and returned
Turning the action of motor, real-time track control module calls the communication dynamic link library file of USB-CAN cards to realize the transmission of data,
Data exchange is carried out by controller local area network (Controller Area Network, CAN), sets the number to be sent
According to and CAN, dsp controller be sent directly to by Transmit dynamic link library files after sending the message ID numbers of data
Receive the control for finally realizing excavator motion after the data in CAN by the computing of dsp controller internal processes；
Step 102, trajectory planning module planning obtains desired scraper bowl crown movement locus；
Step 103, by desired scraper bowl crown movement locus, coordinate V (x, y, z), the scraper bowl appearance of scraper bowl end are obtained
State angle ζ, Q point coordinates (xq, yq, zq) and CF, CQ, CV angle α, β and γ with horizontal plane respectively, it is calculated according to the following equation
Go out the corner in each joint：
Wherein, CQ and Q point coordinates (xq, yq, zq) calculation formula is as follows：
Step 104, equipment is controlled to be moved along desired scraper bowl end orbit by the corner in each joint, by joint
Corner is converted into corresponding hydraulic cylinder length；
Step 105, actual boom cylinder stay-supported type displacement sensor, dipper hydraulic cylinder stay-supported displacement sensing are gathered
The signal of device, bucket hydraulic cylinder stay-supported type displacement sensor and electronic compass is compared with desired track data, passing ratio
Integral differential PID (Proportional Integral Derivative, PID) control algolithm forms closed loop feedback control, sentences
Disconnected error, produces controlled quentity controlled variable u (t)；
Step 106, dsp controller receives controlled quentity controlled variable u (t) by CAN communication modes and corresponding control voltage is believed
Number, control voltage signal is converted into current signal, is then input to electro-hydraulic proportional valve, banked direction control valves receives and comes from electro-hydraulic proportional valve
Signal produce corresponding valve element aperture, so as to control front pump, the changes in flow rate of rear pump makes boom cylinder, dipper hydraulic cylinder,
Bucket hydraulic cylinder and rotary motor produce corresponding action.
Step 102 includes：
Row interpolation is entered to movement locus by following quintic algebra curve：
S (t)=b0+b1t+...+bn-2tn-2+bn-1tn-1(n=6)
Wherein, s (t) is desired movement locus, b0~bn-1For coefficient, t is run duration, if track is from starting point s0(x0,
y0, z0) arrive terminal s1(x1, y1, z1) total time be tb, constraints is：
Final planning obtains desired scraper bowl crown movement locus and is：
Step 105 includes：
Step 105-1, controlled quentity controlled variable u (t) calculation formula is as follows：
Wherein, t is the time, and e (t) is deviations of the input r (t) with exporting y (t), e (t)=y (t)-r (t), KPFor ratio
Gain, KIFor storage gain, KDFor the differential gain；
Step 105-2, control parameter K is primarily determined that using Ziegler-Nichols (ZN) methods of classicsP、KIAnd KD's
Scope (a kind of Design of Self-tuning PID of Yan Xiuying, Ren Qingchang, Meng Qing dragon and simulation study [J] Journal of System Simulation,
2006,(S2):753-756.)；
Step 105-3, calculates particle fitness, and each particle represents one group of KP、KIAnd KDParameter, commented using fitness
Valency particle obtains the quality of optimal location, and as follow-up particle rapidity and the foundation of location updating, during using Error Absolute Value
Between integrate object function of the ITAE performance indications as parameter tuning, utilize the objective function Equation of following definition to calculate each grain
The fitness J of sonITAE：
Wherein, TiFor the time of integration, e (t) is the deviation of input and output, and input r (t) is desired boom cylinder,
The track data of dipper hydraulic cylinder, bucket hydraulic cylinder and rotary motor, output y (t) is actual boom cylinder stay-supported displacement
Sensor, dipper hydraulic cylinder stay-supported type displacement sensor, the signal of bucket hydraulic cylinder stay-supported type displacement sensor and electronic compass；
Step 105-4, more new particle optimal solution and whole population optimal solution, for each particle, if current location
Fitness be better than the individual optimal solution of the optimal solution that the particle is found at present, then more new particle, if current location
Fitness be better than the optimal solution that whole population is found at present, then update the optimal solution that whole population is found at present,
Otherwise keep constant；
Step 105-5, perform genetic manipulation：According to the fitness for calculating each particle of gained, selection is performed to population
And crossover operation；
Step 105-6, update particle state, by formula below come update i-th of particle in the t+1 time iteration oneself
Oneself speedAnd position
Wherein,For i-th of particle in the t times iteration the speed of oneself,It is i-th of particle in the t times iteration
The position of oneself,For individual history optimum position,For global population optimum position, w is inertia weight, c1,c2To learn
The factor is practised, is distributed in scope [0,4]；r1,r2For the random number being distributed in [0,1]；
In the t times iteration, inertia weight wtAdjustment mode be expressed from the next：
Wherein, wmaxWith wminRespectively inertia weight higher limit and lower limit, tmaxFor maximum iteration, k is non-linear
Controlling elements；
Step 105-7, examines whether iteration terminates：If current iteration number, which has reached, presets greatest iteration time
Number, then stop iteration, optimization terminates, and otherwise, goes to step 105-3.
System also includes telecommunication network module, and one web page address of telecommunication network module creation is simultaneously embedded in computer,
By the running situation of WEB webpage real-time monitor (RTM)s on any one computer in internet, realize to the remote of excavator
Journey manipulates.
Data exchange is carried out by controller local area network's CAN in real-time track computing module；
Beneficial effect：The 3 D Dynamic Graphics Simulation posture of real-time display excavator can be realized by the system, in real time monitoring
Running state information, action that is accurate and stably controlling excavator, plans the track of desired scraper bowl end, realizes and excavate
Machine remote auto control, ensure the safety of operating personnel while improving operating efficiency and operation quality.
Brief description of the drawings
The present invention is done with reference to the accompanying drawings and detailed description and further illustrated, it is of the invention above-mentioned or
Otherwise advantage will become apparent.
Fig. 1 is the schematic diagram of sensor installation on board a dredger.
Fig. 2 is that excavator 3 d pose is shown and its schematic diagram of Remote Automatic Control System.
Fig. 3 is the figure of the 3 D Dynamic Graphics Simulation posture one of real-time display excavator of the present invention.
Fig. 4 is the figure of real-time display X, Y, Z axis scraper bowl crown running orbit one of the present invention.
Fig. 5 is the structure diagram of excavator under D-H coordinate systems.
Fig. 6 is the figure of the running state information of monitoring excavator in real time one of the invention.
Fig. 7 is the interface of the excavator action of control in real time of the invention.
Fig. 8 is remote control WEB structure figure.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention will be further described.
As depicted in figs. 1 and 2,3 d pose of the invention is shown and its Remote Automatic Control System operates including excavator
Module, data acquisition module, computer 202 (computer includes real-time track computing module), TRAJECTORY CONTROL module, operation information
Monitoring modular, data memory module and three-dimensional visualization module,
The excavator operation module includes operation handle 201, computer 202, the electro-hydraulic proportional valve 208 of dsp controller 203
The fluid control loop formed with banked direction control valves 209；The fuel feeding element that pioneer pump 207, front pump 205 and rear pump 206 form；Swing arm liquid
The executing agency that cylinder pressure 210, dipper hydraulic cylinder 211, bucket hydraulic cylinder 212 and rotary motor 213 form；Boom cylinder bracing wire
Formula displacement transducer 101, dipper hydraulic cylinder stay-supported type displacement sensor 103, bucket hydraulic cylinder stay-supported type displacement sensor 105,
The data acquisition mechanism that electronic compass 215, data collecting card 216 and USB-CAN cards 217 form；
Pioneer pump 207 is adjusted to electro-hydraulic proportional valve 208 according to operation handle 201 and the control signal of computer 202
Fuel feeding size and Orientation produces corresponding valve element aperture and direction of action, banked direction control valves 209 receive the letter from electro-hydraulic proportional valve 208
Number corresponding valve element aperture is produced, so as to control front pump 205, the changes in flow rate of rear pump 206, make boom cylinder 210, dipper liquid
Cylinder pressure 211, bucket hydraulic cylinder 212 and rotary motor 213 produce corresponding action, and above-mentioned signal acquisition and processing are controlled in DSP
Completed in device 203 processed, dsp controller 203 by computer 202 with passing through the EBI real-time communication of USB-CAN cards 217；
As shown in figure 1, swing arm stay-supported type displacement sensor 101 is installed on boom cylinder 210, in dipper hydraulic cylinder
Dipper stay-supported type displacement sensor 103 is installed on 211, scraper bowl stay-supported displacement sensing is installed on bucket hydraulic cylinder 212
Device 105, electronic compass 215 is installed on driver's cabin top；
Excavator 3 d pose is shown and its schematic diagram of Remote Automatic Control System is as shown in Fig. 2 contain by electric
Handle 201, the fluid control loop that the banked direction control valves 209 that electro-hydraulic proportional valve 208 drives forms；Guide's constant displacement pump 207, front pump 205
With the fuel feeding element of rear pump 206 composition；And executing agency's boom cylinder 210, dipper hydraulic cylinder 211, bucket hydraulic cylinder 212
With rotary motor 213.Guide's constant displacement pump 207 is used to provide the valve element action in guide's fluid driving banked direction control valves 209 to system, and
Electro-hydraulic proportional valve 208 adjusts the size of pilot pressure oil and direction of action according to the control signal of electric handle 201.When electric
When handle 201 is in middle position, control signal zero, the pressure of guide's fluid is also zero, and the valve element of banked direction control valves 209 is in both sides control chamber
In interior time middle position is also in the presence of spring.When electric handle 201, which acts, produces control signal, according to the size of signal and
Direction, pilot pressure oil can lead to the control chamber of banked direction control valves 209, the valve element model- following control signal movement of driving banked direction control valves 209.Valve element
It is mobile to the left or to the right, cause front pump 205 and rear pump 206 leads to executing agency's hydraulic cylinder rodless cavity or the loop of rod chamber connects
Logical, in the presence of pressure oil liquid, hydraulic cylinder stretches out or retraction.The flexible of executing agency is swing side by electric handle 201
To decision, and size proportional of its translational speed substantially with control signal.
Computer 202 receives boom cylinder stay-supported type displacement sensor 101, dipper hydraulic cylinder stay-supported type displacement sensor
103, the signal of bucket hydraulic cylinder stay-supported type displacement sensor 105 and electronic compass 215, data processing, display and storage are carried out,
The three-D displacement of the 3 D Dynamic Graphics Simulation posture of real-time display excavator, X, Y, Z axis scraper bowl crown running orbit and scraper bowl crown
Curve；TRAJECTORY CONTROL module includes real-time track control and trajectory planning two parts, according to the actual displacement of equipment and car
Body turns round signal, controller 203 is fed back to after digital-to-analogue conversion, and change and the scraper bowl end of planning by kinematics analysis
Track compares, and forms closed loop feedback control.
The display of above-mentioned excavator 3 d pose, scraper bowl crown running orbit, three-D displacement curve and running state information
Comprise the following steps with storage：
1st, the three-dimensional visualization model for establishing excavator is combined using two softwares of LabVIEW and SolidWorks, first
The three-dimensional entity model of excavator is established in SolidWorks, in conjunction with Virtual Reality Modeling Language (Virtual Reality
Modeling Language, VRML) each moving component is converted into vrml file, finally using in tri-dimensional picture control
Correlation function completes the foundation of each part position relations and movement relation.Moved for control excavator threedimensional model, by angle of revolution
Rotary shaft of the displacement of each hydraulic cylinder respectively with corresponding model coordinate is connected on degree and equipment, and these information are converted into
The rotation amount of each reference axis in three dimensions, so as to simulate the real-time attitude of excavator, it is established that excavator it is visual
Change model, final effect is as shown in Figure 3；
2nd, data acquisition module is started working, and the stay-supported type displacement sensor signal on equipment passes through American National instrument
The data collecting card USB-6215 of device company is input to computer 202, and the information of voltage collected is converted into reality by capture card
The shift value of measurement.Angle of revolution is measured by measuring azimuthal high-precision two-dimensional electronic compass 215, is sent by serial ports to meter
Calculation machine 202；
3rd, real-time track computing module is started working, by kinematics sequences by boom cylinder 210, dipper hydraulic cylinder
211, the displacement of bucket hydraulic cylinder 212 is converted into each joint rotation angle, using virtual instrument and Matlab combined programming, first in void
Intend creating Matlab Script in instrument, the formula of excavator kinematic calculation then write in MATLAB Script,
Add required parameter on MATLAB Script block diagrams, obtain X, Y, Z axis scraper bowl crown movement locus and three-D displacement curve, it is bent
Line is as shown in Figure 4；
Wherein, each hydraulic cylinder displacement signal of equipment is converted into each joint rotation angle, excavator kinematics in step 3
Normal solution method is as follows：
The structure diagram of excavator under D-H coordinate systems as shown in Figure 5 is established, revolution coordinate is established in centre of gyration O points
System, θ1For angle of revolution；The pin joint C of swing arm and base establishes swing arm coordinate system, θ2For swing arm joint angle；Dipper is cut with scissors with swing arm
Contact F establishes dipper coordinate system, θ3For dipper joint angle；Dipper establishes scraper bowl coordinate system, θ with scraper bowl pin joint Q4Closed for scraper bowl
Save angle；Scraper bucket tooth cusp V establishes crown coordinate system；A points are boom cylinder and vehicle body pedestal pin joint；B points are swing arm liquid
Cylinder pressure and swing arm pin joint；D points are dipper hydraulic cylinder and swing arm pin joint；E points are dipper hydraulic cylinder and dipper pin joint；F points
For dipper and swing arm pin joint；Q points are dipper and scraper bowl pin joint；N points are rocking arm and dipper pin joint；S points are bucket hydraulic
Cylinder and articulated point of rocker arm；K points are connecting rod and scraper bowl pin joint.
It is relatively easy due to being connected between hydraulic cylinder and equipment, can be by geometric method to each hydraulic cylinder of equipment
The relation of displacement and each joint rotation angle is directly solved, and joint rotation angle can be calculated according to below equation：
Converted by a series of matrix coordinates under D-H coordinates, while the hydraulic cylinder displacement measured is converted into joint
Angle, the coordinate V (x, y, z) and scraper bowl attitude angle ζ of scraper bowl end are calculated using following formula：
Wherein, a1It is pin joint C and centre of gyration O points in x0Length on direction；d1For pin joint C and centre of gyration O points
In z0Length on direction；a2For CF length；a3For FQ length；a4For QV length；
4th, operation information monitoring modular and data acquisition module work simultaneously, monitor excavator running state information such as in real time
Shown in Fig. 6, it is connected by USB-CAN modules with the CAN mouths of controller 203, USB-CAN modules, which contain, to be directly invoked
CAN communication dynamic link library file (Dynamic Link Library, DLL), by message ID character strings received and right
The address in polling list is answered to be matched, so as to parse corresponding data and be shown.Its real-time display excavator is transported
Row status information has：Hydraulic fluid temperature, cooling water temperature, engine oil pressure, fuel level, engine speed, front pump principal pressure, after
Pump principal pressure, front pump proportioning valve electric current, rear pump proportioning valve electric current, swing arm handle voltage, dipper handle voltage, scraper bowl handle electricity
Pressure, rotary handle voltage, left threading voltage, right threading voltage, the big cavity pressure of boom cylinder, the small cavity pressure of boom cylinder,
The big cavity pressure of dipper hydraulic cylinder, the small cavity pressure of dipper hydraulic cylinder, the big cavity pressure of bucket hydraulic cylinder, the small cavity pressure of bucket hydraulic cylinder；
5th, data memory module real-time storage excavator running state information and X, Y, Z axis scraper bowl crown movement locus.
Above-mentioned TRAJECTORY CONTROL module turns round signal according to the actual displacement of equipment and vehicle body, is fed back after digital-to-analogue conversion
To controller 203, and by kinematics analysis conversion compared with the track for the scraper bowl end planned, running control algolithm, shape
Into closed loop feedback control, it includes real-time track control and trajectory planning two parts, complete method for controlling trajectory are as follows：
1st, in the display of excavator 3 d pose, scraper bowl crown running orbit, three-D displacement curve and running state information
With running orbit control module on the basis of storage；
2nd, real-time track control module directly controls boom cylinder 210, dipper hydraulic cylinder 211, the He of bucket hydraulic cylinder 212
The action of rotary motor 213, control the interface of excavator action as shown in Figure 7 in real time.In actual excavation machine TRAJECTORY CONTROL process
In, direct control object is each hydraulic cylinder displacement, so needing that joint rotation angle is converted into corresponding hydraulic pressure by correlation computations
Cylinder length, finally by these data transfers into slave computer, realize the control to desired trajectory.Directly invoke USB-CAN modules
Communication dynamic link library file realize the transmissions of data, set the data to be sent and lead to after the message ID number for sending data
Cross Transmit dynamic link library files and be sent directly to CAN, controller is received after the data in CAN by control
The control of excavator motion is finally realized in the computing of the internal processes of device 203 processed；
3rd, trajectory planning module planning goes out the track of desired scraper bowl end, and controller 203 is according to equipment reality
Displacement and vehicle body revolution signal, and by kinematics conversion compared with desired track data, running control algolithm, formation is closed
Ring feedback control；
In step 3 to ensure the stability of the speed of motion path and acceleration, reduce the system started with the end of
Unstability, using the smooth continuous characteristic of 1 rank of higher order polynomial, 2 order derivatives, movement locus is entered using quintic algebra curve
Row interpolation；
If quintic algebra curve formula is：
S (t)=b0+b1t+...+bn-2tn-2+bn-1tn-1(n=6)
Wherein, s (t) is desired movement locus, b0~bn-1For coefficient, t is run duration, to quintic algebra curve formula
Single order and second dervative is asked to can obtain the speed and Acceleration Formula in path, if track is from starting point s0(x0, y0, z0) arrive terminal s1
(x1, y1, z1) total time be tb, constraints is
Final planning obtains scraper bowl crown movement locus and is：
4th, coordinate V (x, y, z) and scraper bowl posture, it is necessary to by the scraper bowl end of planning are obtained after scraper bowl crown movement locus
Angle ζ is converted to the corner in each joint, and this process is realized by Inverse Kinematics Solution, and Inverse Kinematics Solution calculating process is as follows：
By planning desired scraper bowl crown movement locus, coordinate V (x, y, z), the scraper bowl appearance of scraper bowl end can be obtained
State angle ζ, Q point coordinates (xq, yq, zq) and the angle α of CF, CQ, CV and horizontal plane, β and γ, can be calculated according to following formula
Go out the corner in each joint：
Wherein, CQ and Q point coordinates (xq, yq, zq) calculation formula is as follows：
5th, control equipment to be moved along desired scraper bowl end orbit by the corner in each joint, joint rotation angle is turned
Hydraulic cylinder length corresponding to changing into；
6th, actual boom cylinder stay-supported type displacement sensor 101, dipper hydraulic cylinder stay-supported type displacement sensor are gathered
103, signal and the desired track data of above-mentioned steps of bucket hydraulic cylinder stay-supported type displacement sensor 105 and electronic compass 215
Compare, passing ratio integral differential (Proportional Integral Derivative, PID) control algolithm forms closed loop
Feedback control, error in judgement, produce controlled quentity controlled variable u (t)；
Control algolithm is controlled according to input r (t) and output y (t) deviation e (t)=y (t)-r (t), by deviation
Ratio P, integration I and differential D controlled quentity controlled variable u (t) is formed by linear combination, be held essentially constant after its parameter tuning, control
Rule is：
Wherein, t is the time, KPFor the precision of the main regulating system of proportional gain, KISystem is mainly eliminated for storage gain
Steady-state error, KDMainly improve the dynamic characteristic of system for the differential gain.It is desired swing arm liquid that r (t) is inputted in control algolithm
The track data of cylinder pressure 210, dipper hydraulic cylinder 211, bucket hydraulic cylinder 212 and rotary motor 213.It is actual swing arm to export y (t)
Hydraulic cylinder stay-supported type displacement sensor 101, dipper hydraulic cylinder stay-supported type displacement sensor 103, bucket hydraulic cylinder stay-supported displacement
The signal of sensor 105 and electronic compass 215.
KP、KIAnd KDThree parameters have extremely important influence, classical PID control on the motion accuracy control of excavator
Device is difficult to obtain three optimal control parameters, and when excavator work working conditions change is larger, the overall control essence of system
Degree can be deteriorated, and the debugging of traditional pid parameter takes time and effort.The pid control algorithm of the system in step 6 adjusts KP、KIAnd KD
Three parameters are to be combined the selection in genetic algorithm, Crossover Operator with particle swarm optimization algorithm, and are incorporated into PID control
In, to realize the accurate control to movement locus.
Each particle represents one group of KP、KIAnd KDParameter, wherein selection mechanism are used for obtaining preferable particle, can more have
Effect ground, which obtains, seeks optimal solution.Crossover mechanism then by adding a crossover operator in the algorithm, passes through the grain to specifying number
Son is hybridized two-by-two, is produced the new particle of identical quantity, is kept the diversity of population, so as to which search through as far as possible is whole
Solution space, reduce the possibility for being absorbed in local optimum, KP、KIAnd KDThree parameter tuning steps are as follows：
1. initializing, control parameter K is primarily determined that using Ziegler-Nichols (ZN) methods of classicsP、KIAnd KD's
Scope, to reduce the blindness of initial optimization algorithm optimizing；
2. calculating particle fitness, particle swarm optimization algorithm evaluates particle in whole optimization process using fitness
The quality of obtained optimal location, and as follow-up particle rapidity and the foundation of location updating.Therefore, in order that control system obtains
The position of satisfied transition stage dynamic characteristic and minimum boom cylinder 210, dipper hydraulic cylinder 211 and bucket hydraulic cylinder 212
Static error is put, using Error Absolute Value time integral ITAE (integral of time multiplied by the
Absolute value of error) performance indications as the object function of parameter tuning, utilize the target letter of following definition
Number formula calculates the fitness of each particle：
Wherein, TiFor the time of integration, e (t) is the deviation of input and output, and input r (t) is desired boom cylinder
210, dipper hydraulic cylinder 211, the track data of bucket hydraulic cylinder 212 and rotary motor 213.It is actual swing arm hydraulic pressure to export y (t)
Cylinder stay-supported type displacement sensor 101, dipper hydraulic cylinder stay-supported type displacement sensor 103, bucket hydraulic cylinder stay-supported displacement sensing
The signal of device 105 and electronic compass 215.
3. more new particle optimal solution and whole population optimal solution, for each particle, if the fitness of current location
It is better than the individual optimal solution of the optimal solution that the particle is found at present, then more new particle, similarly, if current location
Fitness is better than the optimal solution that whole population is found at present, then updates the optimal solution that whole population is found at present, no
Then keep constant；
4. performing genetic manipulation, according to the fitness for calculating each particle of gained, selection is performed to population and is intersected and is grasped
Make.Wherein, by selection operation, population will concentrate search preferably space, but still by itself individual optimal location
Influence.
Crossover operation allows progeny to inherit the gene of parent particle, and causes the father for being absorbed in local optimum region
Local extremum can be fled from for particle, produces more excellent particle；
5. updating particle state, i-th of particle speed of oneself in the t+1 times iteration is updated by formula belowAnd position
Wherein,For i-th of particle in the t times iteration the speed of oneself,It is i-th of particle in the t times iteration
The position of oneself,For individual history optimum position,For global population optimum position, w is inertia weight, c1,c2To learn
The factor is practised, is distributed in scope [0,4]；r1,r2For the random number being distributed in [0,1].
During carrying out parameter tuning, always it is expected the particle of optimized algorithm can go through in early stage all over whole solution space, and
Can accurately it be searched in optimal region in the later stage.According to this search feature, it is necessary to which to set inertia weight to possess larger
Initial value, and can slowly reduce initial stage in iteration, and can reduce rapidly at the end of, weighed using decreases in non-linear inertia
Weight policy update inertia weight coefficient, in the t times iteration, inertia weight wtAdjustment mode be expressed from the next：
Wherein, wmaxWith wminRespectively inertia weight higher limit and lower limit, tmaxFor maximum iteration, k is non-linear
Controlling elements.
6. examining whether iteration terminates, if current iteration number, which has reached, presets maximum iteration, stop
Iteration, optimization terminate, and otherwise, go to pid control parameter and adjust second step.
7th, controller 203 is received by CAN and comes from caused controlled quentity controlled variable u (t) and corresponding control in above-mentioned steps 6
Voltage signal processed is converted into current signal through amplifier, is then input to electro-hydraulic proportional valve 208, and banked direction control valves 209 is received from electricity
The signal of liquid proportional valve 208 produces corresponding valve element aperture, so as to control front pump 205, the changes in flow rate of rear pump 206, makes swing arm
Hydraulic cylinder 210, dipper hydraulic cylinder 211, bucket hydraulic cylinder 212 and rotary motor 213 produce corresponding action；
8th, will be inputted to the excavator running state information of controller 203 and meter using CAN network in above-mentioned steps
Calculation machine 202 is by carrying out data exchange.
The system also includes telecommunication network module, and telecommunication network module realizes the remote internet manipulation of excavator, wound
Build in a web page address and embedded program, WEB webpage real-time monitor (RTM)s are led on any computer in internet
Running situation, can control program completely operation.
Described excavator remote internet manipulation can be realized by the following manner：
Remote control global wide area network (World Wide Web, WEB) structure chart is as shown in figure 8, void in computer 202
Intending instrument software has telecommunication network module, and it realizes the remote internet manipulation of excavator, creates a web page address simultaneously
In embedded program, it is possible to which by WEB webpages, monitoring has been checked in real time on any client computer in internet
The running situation of heavy-duty machine, excavator 3 d pose can be controlled to show and its operation of Remote Automatic Control System program completely.
Multiple different webpages can be issued, same webpage can be browsed respectively by different monitoring sides, but program can only be by one
Client controls, and if other control terminals are just in control program, this control data just needs to wait.After control data obtains
Just as monitoring excavator on the computer of oneself, the difference is that program is still run on the server, also seen not in webpage
To program rear board.
Shown the invention provides a kind of excavator 3 d pose and Remote Automatic Control System, implement the technical side
The method and approach of case are a lot, and described above is only the preferred embodiment of the present invention, it is noted that for the art
For those of ordinary skill, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvement
Protection scope of the present invention is also should be regarded as with retouching.The available prior art of each part being not known in the present embodiment is subject to
Realize.
Claims (8)
1. a kind of excavator 3 d pose is shown and Remote Automatic Control System, it is characterised in that including excavator operation module,
Data acquisition module, real-time track computing module, TRAJECTORY CONTROL module, operation information monitoring modular, data memory module and three
Tie up visualization model；
The excavator operation module includes operation handle (201), computer (202), dsp controller (203), electro-hydraulic proportional valve
(208) and banked direction control valves (209) composition fluid control loop, the confession that pioneer pump (207), front pump (205) and rear pump (206) form
Oily element, what boom cylinder (210), dipper hydraulic cylinder (211), bucket hydraulic cylinder (212) and rotary motor (213) formed holds
Row mechanism, and boom cylinder stay-supported type displacement sensor (101), dipper hydraulic cylinder stay-supported type displacement sensor (103), shovel
Struggle against hydraulic cylinder stay-supported type displacement sensor (105), electronic compass (215), data collecting card (216) and USB-CAN cards (217) group
Into data acquisition mechanism；
Pioneer pump (207) is adjusted to electro-hydraulic proportional valve according to operation handle (201) and the control signal of computer (202)
(208) fuel feeding size and Orientation, so as to produce corresponding valve element aperture and direction of action；Banked direction control valves (209) is received from electricity
The signal of liquid proportional valve (208) simultaneously produces corresponding valve element aperture, so as to control the flow of front pump (205) and rear pump (206) to become
Change, produce boom cylinder (210), dipper hydraulic cylinder (211), bucket hydraulic cylinder (212) and rotary motor (213) corresponding
Action, dsp controller (203) pass through USB-CAN cards (217) EBI real-time communication with computer (202)；
Swing arm stay-supported type displacement sensor (101) is installed on boom cylinder (210), pacified on dipper hydraulic cylinder (211)
Equipped with dipper stay-supported type displacement sensor (103), scraper bowl stay-supported type displacement sensor is installed on bucket hydraulic cylinder (212)
(105) electronic compass (215), is installed on driver's cabin top；
The position of the data collecting module collected boom cylinder (210), dipper hydraulic cylinder (211) and bucket hydraulic cylinder (212)
Move and the angle of revolution information of vehicle body, and by boom cylinder stay-supported type displacement sensor (101), dipper hydraulic cylinder stay-supported position
The signal output of displacement sensor (103) bucket hydraulic cylinder stay-supported type displacement sensor (105) and electronic compass (215) is to real-time rail
Mark computing module；
The real-time track computing module calculates scraper bowl crown movement locus and three-D displacement curve simultaneously according to the signal of reception
Export to three-dimensional visualization module；
The three-dimensional visualization module is according to the three-dimensional real-time attitude of the data real-time display excavator of reception；
The TRAJECTORY CONTROL module is used to carry out TRAJECTORY CONTROL, including real-time track control module and trajectory planning module；
The communication dynamic link library file that the real-time track control module is directly invoked in USB-CAN cards (217) realizes swing arm
The transmission of hydraulic cylinder (210), dipper hydraulic cylinder (211), bucket hydraulic cylinder (212) and rotary motor (213) displacement data, passes through
Controller local area network CAN carries out the data exchange of computer (202) and dsp controller (203), and dsp controller (203) receives
Realized after to data to boom cylinder (210), dipper hydraulic cylinder (211), bucket hydraulic cylinder (212) and rotary motor (213)
The direct control of motion；
The trajectory planning module is used for the track data for cooking up desired scraper bowl end；
The operation information monitoring modular is used for real-time display excavator running state information；
The data memory module is used to store excavator running state information and scraper bowl crown movement locus.
2. system according to claim 1, it is characterised in that the excavator running state information includes：Hydraulic oil temperature
Degree, cooling water temperature, engine oil pressure, fuel level, engine speed, front pump principal pressure, rear pump principal pressure, front pump proportioning valve electricity
Stream, rear pump proportioning valve electric current, swing arm handle voltage, dipper handle voltage, scraper bowl handle voltage, rotary handle voltage, left threading
Voltage, right threading voltage, the big cavity pressure of boom cylinder, the small cavity pressure of boom cylinder, the big cavity pressure of dipper hydraulic cylinder, dipper
The small cavity pressure of hydraulic cylinder, the big cavity pressure of bucket hydraulic cylinder, the small cavity pressure of bucket hydraulic cylinder.
3. system according to claim 2, it is characterised in that system performs following steps：
Step 1, the three-dimensional visualization model for establishing excavator：The three-dimensional entity model of excavator is established in SolidWorks,
Complete boom cylinder (210), swing arm (102), dipper hydraulic cylinder (211), dipper (104), bucket hydraulic cylinder (212) and scraper bowl
(106) foundation of position relationship and movement relation between；By angle of revolution and by swing arm (102), dipper (104) and scraper bowl
(106) rotary shaft of the displacement of each hydraulic cylinder respectively with corresponding model coordinate is connected on the equipment of composition, by swing arm liquid
Cylinder pressure (210), the displacement information of dipper hydraulic cylinder (211) and bucket hydraulic cylinder (212) and vehicle body angle of revolution are converted into around three
The rotation amount of each reference axis in dimension space；
Step 2, data collecting module collected swing arm stay-supported type displacement sensor (101), dipper stay-supported type displacement sensor (103)
With the signal of scraper bowl stay-supported type displacement sensor (105), and the shift value that the information of voltage collected is converted into actually measuring,
Angle of revolution is measured by electronic compass (215), shift value and angle of revolution are sent to real-time track computing module；
Step 3, real-time track computing module calculate X, Y, Z axis scraper bowl crown movement locus and three-D displacement curve；
Step 4, operation information monitoring modular are connected by USB-CAN cards (217) with the CAN mouths of dsp controller (203), and
Will be from the address in the excavator operation information message ID character strings and the transmission to CAN of setting that dsp controller (203) receive
Matched, so as to parse corresponding excavator running state information and be shown；
Step 5, data memory module real-time storage excavator running state information and X, Y, Z axis scraper bowl crown movement locus.
4. system according to claim 3, it is characterised in that step 3 includes：
Step 3-1, the structure diagram of excavator under D-H coordinate systems is established, revolution coordinate system, θ are established in centre of gyration O points1To return
Gyration；The pin joint C of swing arm (102) and base establishes swing arm coordinate system, θ2For swing arm (102) joint angle；Dipper (104) with
Swing arm (102) pin joint F establishes dipper coordinate system, θ3For dipper (104) joint angle；Dipper (104) and scraper bowl (106) pin joint
Q establishes scraper bowl coordinate system, θ4For scraper bowl joint angle；Scraper bucket tooth cusp V establishes crown coordinate system；A points be boom cylinder with
Vehicle body pedestal pin joint；B points are boom cylinder and swing arm pin joint；D points are dipper hydraulic cylinder and swing arm pin joint；E points are
Dipper hydraulic cylinder and dipper pin joint；F points are dipper and swing arm pin joint；Q points are dipper and scraper bowl pin joint；N points are rocking arm
With dipper pin joint；S points are bucket hydraulic cylinder and articulated point of rocker arm；K points are connecting rod and scraper bowl pin joint；
Step 3-2, joint rotation angle is calculated according to below equation：
By step 2 data acquisition module swing arm stay-supported type displacement sensor (101), dipper stay-supported type displacement sensor (103) and
Boom cylinder (210) that scraper bowl stay-supported type displacement sensor measures, dipper hydraulic cylinder (211), bucket hydraulic cylinder (212)
Displacement and electronic compass (215) measure angle of revolution and are converted into joint angle θ2、θ3、θ4And θ1, using equation below, according to joint
Angle θ2、θ3、θ4And θ1Calculate the coordinate V (x, y, z) and scraper bowl attitude angle ζ of scraper bowl end：
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The upward length of Nogata；a2For CF length；a3For FQ length；a4For QV length.
5. system according to claim 4, it is characterised in that the TRAJECTORY CONTROL module carries out the process bag of TRAJECTORY CONTROL
Include：
Step 101, real-time track control module directly controls boom cylinder (210), dipper hydraulic cylinder (211), bucket hydraulic
The action of cylinder (212) and rotary motor (213), real-time track control module call the communication dynamic link library text of USB-CAN cards
Part realizes the transmission of data, and data exchange is carried out by controller local area network CAN, sets the data to be sent and sends number
According to message ID number after CAN is sent directly to by Transmit dynamic link library files, dsp controller (203) receives
The control of excavator motion is finally realized after data on to CAN by the computing of dsp controller (203) internal processes；
Step 102, trajectory planning module planning obtains desired scraper bowl crown movement locus；
Step 103, by desired scraper bowl crown movement locus, coordinate V (x, y, z), the scraper bowl attitude angle of scraper bowl end are obtained
ζ, Q point coordinates (xq, yq, zq) and CF, CQ, CV angle α, β and γ with horizontal plane respectively, it is calculated according to the following equation out each
The corner in joint：
Wherein, CQ and Q point coordinates (xq, yq, zq) calculation formula is as follows：
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<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>q</mi>
</msub>
<mo>-</mo>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>y</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mi>q</mi>
</msub>
<mo>-</mo>
<msub>
<mi>d</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>x</mi>
<mi>q</mi>
</msub>
<mo>=</mo>
<mi>x</mi>
<mo>-</mo>
<msub>
<mi>a</mi>
<mn>4</mn>
</msub>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mi>&zeta;</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>y</mi>
<mi>q</mi>
</msub>
<mo>=</mo>
<mi>y</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>z</mi>
<mi>q</mi>
</msub>
<mo>=</mo>
<mi>z</mi>
<mo>-</mo>
<msub>
<mi>a</mi>
<mn>4</mn>
</msub>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mi>&zeta;</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Step 104, equipment is controlled to be moved along desired scraper bowl end orbit by the corner in each joint, by joint rotation angle
Hydraulic cylinder length corresponding to being converted into；
Step 105, actual boom cylinder stay-supported type displacement sensor (101), dipper hydraulic cylinder stay-supported displacement sensing are gathered
The signal of device (103), bucket hydraulic cylinder stay-supported type displacement sensor (105) and electronic compass (215) and desired track data
Compare, passing ratio integral differential pid control algorithm forms closed loop feedback control, error in judgement, produces controlled quentity controlled variable u (t)；
Step 106, dsp controller (203) receives controlled quentity controlled variable u (t) by CAN communication modes and corresponding control voltage is believed
Number, control voltage signal is converted into current signal, is then input to electro-hydraulic proportional valve (208), banked direction control valves (209) is received and come from
The signal of electro-hydraulic proportional valve (208) produces corresponding valve element aperture, and so as to control front pump (205), the flow of rear pump (206) becomes
Change, make boom cylinder (210), dipper hydraulic cylinder (211), bucket hydraulic cylinder (212) and rotary motor (213) produce accordingly
Action.
6. system according to claim 5, it is characterised in that step 102 includes：
Row interpolation is entered to movement locus by following quintic algebra curve：
S (t)=b0+b1t+...+bn-2tn-2+bn-1tn-1(n=6)
Wherein, s (t) is desired movement locus, b0~bn-1For coefficient, t is run duration, if track is from starting point s0(x0, y0,
z0) arrive terminal s1(x1, y1, z1) total time be tb, constraints is：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mn>0</mn>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>s</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>t</mi>
<mi>b</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>s</mi>
<mn>1</mn>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mrow>
<mi>d</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mn>0</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>=</mo>
<mn>0</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mrow>
<mi>d</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>t</mi>
<mi>b</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>=</mo>
<mn>0</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mrow>
<msup>
<mi>d</mi>
<mn>2</mn>
</msup>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mn>0</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msup>
<mi>dt</mi>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>=</mo>
<mn>0</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mrow>
<msup>
<mi>d</mi>
<mn>2</mn>
</msup>
<mi>s</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>t</mi>
<mi>b</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msup>
<mi>dt</mi>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>=</mo>
<mn>0</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Final planning obtains desired scraper bowl crown movement locus and is：
<mrow>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
<mo>+</mo>
<mfrac>
<mrow>
<mn>10</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>s</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msup>
<msub>
<mi>t</mi>
<mi>b</mi>
</msub>
<mn>3</mn>
</msup>
</mrow>
</mfrac>
<msup>
<mi>t</mi>
<mn>3</mn>
</msup>
<mo>+</mo>
<mfrac>
<mrow>
<mn>15</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<msub>
<mi>s</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msup>
<msub>
<mi>t</mi>
<mi>b</mi>
</msub>
<mn>4</mn>
</msup>
</mrow>
</mfrac>
<msup>
<mi>t</mi>
<mn>4</mn>
</msup>
<mo>+</mo>
<mfrac>
<mrow>
<mn>6</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>s</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msup>
<msub>
<mi>t</mi>
<mi>b</mi>
</msub>
<mn>5</mn>
</msup>
</mrow>
</mfrac>
<msup>
<mi>t</mi>
<mn>5</mn>
</msup>
<mo>.</mo>
</mrow>
7. system according to claim 6, it is characterised in that step 105 includes：
Step 105-1, controlled quentity controlled variable u (t) calculation formula is as follows：
<mrow>
<mi>u</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>K</mi>
<mi>p</mi>
</msub>
<mi>e</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>I</mi>
</msub>
<msubsup>
<mo>&Integral;</mo>
<mn>0</mn>
<mi>t</mi>
</msubsup>
<mi>e</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mi>d</mi>
<mi>t</mi>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>D</mi>
</msub>
<mfrac>
<mrow>
<mi>d</mi>
<mi>e</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
</mrow>
Wherein, t is the time, and e (t) is deviations of the input r (t) with exporting y (t), e (t)=y (t)-r (t), KPFor proportional gain,
KIFor storage gain, KDFor the differential gain；
Step 105-2, control parameter K is primarily determined that using Ziegler-Nichols (ZN) methods of classicsP、KIAnd KDModel
Enclose；
Step 105-3, calculates particle fitness, and each particle represents one group of KP、KIAnd KDParameter, grain is evaluated using fitness
Son obtains the quality of optimal location, and as follow-up particle rapidity and the foundation of location updating, utilizes the target of following definition
Function formula calculates the fitness J of each particleITAE：
<mrow>
<msub>
<mi>J</mi>
<mrow>
<mi>I</mi>
<mi>T</mi>
<mi>A</mi>
<mi>E</mi>
</mrow>
</msub>
<mo>=</mo>
<msubsup>
<mo>&Integral;</mo>
<mn>0</mn>
<msub>
<mi>T</mi>
<mi>i</mi>
</msub>
</msubsup>
<mi>t</mi>
<mo>|</mo>
<mi>e</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
<mi>d</mi>
<mi>t</mi>
<mo>,</mo>
</mrow>
Wherein, TiFor the time of integration, e (t) is the deviation of input and output, and input r (t) is desired boom cylinder (210),
The track data of dipper hydraulic cylinder (211), bucket hydraulic cylinder (212) and rotary motor (213), output y (t) is actual swing arm liquid
Cylinder pressure stay-supported type displacement sensor (101), dipper hydraulic cylinder stay-supported type displacement sensor (103), bucket hydraulic cylinder stay-supported position
The signal of displacement sensor (105) and electronic compass (215)；
Step 105-4, more new particle optimal solution and whole population optimal solution, for each particle, if current location is suitable
Response is better than the optimal solution that the particle is found at present, then the individual optimal solution of more new particle, if current location is suitable
Response is better than the optimal solution that whole population is found at present, then updates the optimal solution that whole population is found at present, otherwise
Keep constant；
Step 105-5, perform genetic manipulation：According to the fitness for calculating each particle of gained, selection is performed to population and is handed over
Fork operation；
Step 105-6, update particle state, by formula below come update i-th of particle in the t+1 times iteration oneself
SpeedAnd position
<mrow>
<msubsup>
<mi>v</mi>
<mrow>
<mi>i</mi>
<mi>d</mi>
</mrow>
<mrow>
<mi>t</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msubsup>
<mo>=</mo>
<msubsup>
<mi>wv</mi>
<mrow>
<mi>i</mi>
<mi>d</mi>
</mrow>
<mi>t</mi>
</msubsup>
<mo>+</mo>
<msub>
<mi>c</mi>
<mn>1</mn>
</msub>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<msubsup>
<mi>p</mi>
<mrow>
<mi>i</mi>
<mi>d</mi>
</mrow>
<mi>t</mi>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>x</mi>
<mrow>
<mi>i</mi>
<mi>d</mi>
</mrow>
<mi>t</mi>
</msubsup>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>c</mi>
<mn>2</mn>
</msub>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<msubsup>
<mi>p</mi>
<mrow>
<mi>g</mi>
<mi>d</mi>
</mrow>
<mi>t</mi>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>x</mi>
<mrow>
<mi>i</mi>
<mi>d</mi>
</mrow>
<mi>t</mi>
</msubsup>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msubsup>
<mi>x</mi>
<mrow>
<mi>i</mi>
<mi>d</mi>
</mrow>
<mrow>
<mi>t</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msubsup>
<mo>=</mo>
<msubsup>
<mi>x</mi>
<mrow>
<mi>i</mi>
<mi>d</mi>
</mrow>
<mi>t</mi>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>v</mi>
<mrow>
<mi>i</mi>
<mi>d</mi>
</mrow>
<mrow>
<mi>t</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msubsup>
<mo>,</mo>
</mrow>
Wherein,For i-th of particle in the t times iteration the speed of oneself,For i-th of particle in the t times iteration oneself
Position,For individual history optimum position,For global population optimum position, w is inertia weight, c1,c2For study because
Son, it is distributed in scope [0,4]；r1,r2For the random number being distributed in [0,1]；
Inertia weight w during the t times iterationtAdjustment mode be expressed from the next：
<mrow>
<msup>
<mi>w</mi>
<mi>t</mi>
</msup>
<mo>=</mo>
<msub>
<mi>w</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>w</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>w</mi>
<mrow>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<msup>
<mrow>
<mo>(</mo>
<mfrac>
<mi>t</mi>
<msub>
<mi>t</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
</mfrac>
<mo>)</mo>
</mrow>
<mi>k</mi>
</msup>
<mo>,</mo>
</mrow>
Wherein, wmaxWith wminRespectively inertia weight higher limit and lower limit, tmaxFor maximum iteration, k is nonlinear Control
The factor；
Step 105-7, examines whether iteration terminates：If current iteration number, which has reached, presets maximum iteration,
Stop iteration, optimization terminates, and otherwise, goes to step 105-3.
8. system according to claim 7, it is characterised in that also including telecommunication network module, telecommunication network module creation
In one web page address and embedded computer (202), supervised in real time by WEB webpages on any one computer in internet
The running situation of program is controlled, realizes the remote control to excavator.
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