CN107882103B - 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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- CN107882103B CN107882103B CN201711014949.7A CN201711014949A CN107882103B CN 107882103 B CN107882103 B CN 107882103B CN 201711014949 A CN201711014949 A CN 201711014949A CN 107882103 B CN107882103 B CN 107882103B
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- dipper
- scraper bowl
- excavator
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Classifications
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- 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)
Abstract
It is 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 acquired by stay-supported type displacement sensor, computer is sent to by data collecting card；Vehicle body angle of revolution signal is acquired by electronic compass, computer is sent to by RS232 serial ports；Computer stores and processs data, the 3 D Dynamic Graphics Simulation posture of real-time display excavator；Plan the track of desired scraper bowl end；Signal is turned round according to the actual displacement of equipment and vehicle body, and runs control algolithm compared with desired track data by kinematics conversion, corrects track；Using CAN communication mode, the communication of computer and excavator DSP controller special data is realized；Real-time monitoring running state information；The three-D displacement curve of real-time display X, Y, Z axis scraper bowl tooth tip running track and scraper bowl tooth tip；Remote auto control is realized using the WEB service of virtual instrument.
Description
Technical field
It is shown the present invention relates to a kind of excavator 3 d pose and Remote Automatic Control System.
Background technique
Excavator had all played important function in rescue and relief work and post-disaster reconstruction in recent years, needed out under these operating conditions
A kind of system that can guarantee operator's safety and operation quality is issued, 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 cannot perfectly cooperate with TT&C system, it is difficult in engineering
It realizes.It shows 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 personnel safety.Meanwhile remotely monitor in excavator, 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 human-computer interaction control
The Visualization Platform of system.
Summary of the invention
It is 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 be realized the 3 D Dynamic Graphics Simulation posture of real-time display excavator, and real-time monitoring running state information is accurate and steady
Surely the track of desired scraper bowl end is planned in the movement for controlling excavator, realizes excavator remote auto control, improves operation
Efficiency and operation quality, it is ensured that personnel safety.
In order to solve the above-mentioned technical problem, it shows 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
At oil liquid control loop, pioneer pump, front pump and rear pump group at fuel feeding element, boom cylinder, dipper hydraulic cylinder, scraper bowl liquid
The executing agency and boom cylinder stay-supported type displacement sensor, dipper hydraulic cylinder stay-supported of cylinder pressure and rotary motor composition
The number that displacement sensor, bucket hydraulic cylinder stay-supported type displacement sensor, electronic compass, data collecting card and USB-CAN card form
According to collecting mechanism；
Pioneer pump is adjusted according to the control signal of operation handle and computer to the fuel feeding size of electro-hydraulic proportional valve and side
To generate corresponding spool aperture and direction of action；Multi-way valve receives the signal from electro-hydraulic proportional valve and generates corresponding
Spool aperture, thus the changes in flow rate for controlling front pump and pumping afterwards, make boom cylinder, dipper hydraulic cylinder, bucket hydraulic cylinder and
The corresponding movement of rotary motor generation, above-mentioned signal acquisition and processing are completed in dsp controller, dsp controller and calculating
Machine passes through the real-time communication of USB-CAN card bus interface；
Swing arm stay-supported type displacement sensor is installed on boom cylinder, dipper bracing wire is installed in dipper hydraulic cylinder
Formula displacement sensor is equipped with scraper bowl stay-supported type displacement sensor on bucket hydraulic cylinder, is equipped with electricity 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 vehicle body return
Gyration information, and by boom cylinder stay-supported type displacement sensor, dipper hydraulic cylinder stay-supported type displacement sensor bucket hydraulic
The signal of cylinder stay-supported type displacement sensor and electronic compass is exported to real-time track computing module；
Real-time track computing module signal based on the received, calculates scraper bowl tooth tip motion profile and three-D displacement is bent
Line is simultaneously exported to three-dimensional visualization module；
The three-dimensional real-time attitude of three-dimensional visualization module data real-time display excavator based on the received；
The TRAJECTORY CONTROL module is for carrying out TRAJECTORY CONTROL, including real-time track control module and trajectory planning module；
The real-time track control module calls directly the communication dynamic link library file in USB-CAN card and 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
It is realized after these data and boom cylinder, dipper hydraulic cylinder, bucket hydraulic cylinder and rotary motor movement is directly controlled；
The trajectory planning module is used to cook up the track data of desired scraper bowl end；
The operation information monitoring modular is used for real-time display excavator running state information；
The data memory module is for storing excavator running state information and scraper bowl tooth tip motion profile；
The excavator running state information includes: hydraulic fluid temperature, cooling water temperature, engine oil pressure, fuel level, hair
Motivation revolving speed, front pump principal pressure pump principal pressure afterwards, and front pump proportioning valve electric current is rear to 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 executes following steps:
Step 1, the three-dimensional visualization model for establishing excavator: the 3D solid mould of excavator is established in SolidWorks
Type, positional 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-dimensional space；
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 collected information of voltage is converted into the shift value of actual measurement, 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 tooth tip motion profile and three-D displacement curve；
Step 4, operation information monitoring modular are connected by USB-CAN card with the CAN of dsp controller mouth, and will be from DSP
The address of excavator operation information message ID character string and setting that controller receives being sent on CAN is matched, from
And it parses corresponding excavator running state information and is shown；
Step 5, data memory module real-time storage excavator running state information and X, Y, Z axis scraper bowl tooth tip move rail
Mark.
Step 3 includes:
Step 3-1 establishes the structure diagram of excavator under D-H coordinate system, establishes revolution coordinate system in centre of gyration O point,
θ1For angle of revolution；The hinge joint C of swing arm and pedestal establishes swing arm coordinate system, θ2For swing arm joint angle；Dipper and swing arm hinge joint
F establishes dipper coordinate system, θ3For dipper (104) joint angle (i.e. joint rotation angle)；Dipper and scraper bowl hinge joint Q establish scraper bowl coordinate
System, θ4For scraper bowl joint angle；Scraper bucket tooth cusp V establishes tooth tip coordinate system；A point is that boom cylinder and vehicle body pedestal are hinged
Point；B point is boom cylinder and swing arm hinge joint；D point is dipper hydraulic cylinder and swing arm hinge joint；E point be dipper hydraulic cylinder with
Dipper hinge joint；F point is dipper and swing arm hinge joint；Q point is dipper and scraper bowl hinge joint；N point is rocker arm and dipper hinge joint；
S point is bucket hydraulic cylinder and articulated point of rocker arm；K point is connecting rod and scraper bowl hinge joint；
Step 3-2, calculates joint rotation angle according to the following formula:
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 following formula, according to joint angle θ2、θ3、θ4And θ1Calculate scraper bowl end
Coordinate V (x, y, z) and scraper bowl attitude angle ζ:
Wherein, a1For hinge joint C and the length of centre of gyration O point in the horizontal direction；d1For hinge joint C and centre of gyration O
The length of point in the vertical direction；a2For the length of CF；a3For the length of FQ；a4For the length of QV.
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 returns
Turning the movement of motor, real-time track control module calls the transmission of the communication dynamic link library file realization data of USB-CAN card,
Data exchange is carried out by controller local area network (Controller Area Network, CAN), sets the number to be sent
According to and CAN bus, dsp controller be sent directly to by Transmit dynamic link library file after sending the message ID numbers of data
Receive the control for finally realizing excavator movement after the data in CAN bus by the operation of dsp controller internal processes；
Step 102, trajectory planning module planning obtains desired scraper bowl tooth tip motion profile；
Step 103, by desired scraper bowl tooth tip motion profile, coordinate V (x, y, z), the scraper bowl appearance of scraper bowl end are obtained
State angle ζ, Q point coordinate (xq, yq, zq) and CF, CQ, CV respectively with the angle α of horizontal plane, β and γ, be calculated according to the following equation
The corner in each joint out:
Wherein, CQ and Q point coordinate (xq, yq, zq) calculation formula is as follows:
Step 104, it controls equipment by the corner in each joint to move along desired scraper bowl end orbit, by joint
Corner is converted into corresponding hydraulic cylinder length；
Step 105, practical boom cylinder stay-supported type displacement sensor, dipper hydraulic cylinder stay-supported displacement sensing are acquired
The signal of device, bucket hydraulic cylinder stay-supported type displacement sensor and electronic compass passes through ratio compared with desired track data
Integral differential PID (Proportional Integral Derivative, PID) control algolithm forms closed loop feedback control, sentences
Disconnected error, generates control amount u (t)；
Step 106, dsp controller receives control amount u (t) by CAN bus 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, multi-way valve, which receives, comes from electro-hydraulic proportional valve
Signal generate corresponding spool aperture, to control front pump, the changes in flow rate pumped afterwards makes boom cylinder, dipper hydraulic cylinder,
Bucket hydraulic cylinder and rotary motor generate corresponding movement.
Step 102 includes:
Interpolation is carried out to motion profile by following quintic algebra curve:
S (t)=b0+b1t+...+bn-2tn-2+bn-1tn-1(n=6)
Wherein, s (t) is desired motion profile, 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, constraint condition are as follows:
Final planning obtains desired scraper bowl tooth tip motion profile are as follows:
Step 105 includes:
Step 105-1, control amount u (t) calculation formula is as follows:
Wherein, t is the time, and e (t) is the deviation for inputting r (t) and exporting y (t), e (t)=y (t)-r (t), KPFor ratio
Gain, KIFor integral gain, KDFor the differential gain；
Step 105-2 primarily determines control parameter K using classical Ziegler-Nichols (ZN) methodP、KIAnd KD's
Range (a kind of Design of Self-tuning PID of Yan Xiuying, Ren Qingchang, Meng Qinglong 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 is commented using fitness
The quality of the obtained optimal location of valence particle, and the foundation as subsequent particle rapidity and location updating, when using Error Absolute Value
Between integral ITAE performance indicator as the objective function of 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 exports y (t) as the displacement of practical boom cylinder stay-supported
Sensor, dipper hydraulic cylinder stay-supported type displacement sensor, bucket hydraulic cylinder stay-supported type displacement sensor and electronic compass signal；
Step 105-4, more new particle optimal solution and entire population optimal solution, for each particle, if current location
Fitness be better than the optimal solution that the particle is found at present, then the individual optimal solution of more new particle, if current location
Fitness be better than the optimal solution that entire population is found at present, then update the optimal solution that entire population is found at present,
Otherwise it remains unchanged；
Step 105-5 executes genetic manipulation: according to the fitness for calculating each particle of gained, executing selection to population
And crossover operation；
Step 105-6, update particle state, updated by following formula i-th of particle in the t+1 time iteration oneself
Oneself speedThe position and
Wherein,For i-th of particle in the t times iteration oneself speed,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 range [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 upper limit value and lower limit value, tmaxFor maximum number of iterations, 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 further includes telecommunication network module, and one web page address of telecommunication network module creation is simultaneously embedded in computer,
The operating condition for passing through WEB webpage real-time monitor (RTM) on any one computer in internet, is realized to the remote of excavator
Journey manipulation.
Data exchange is carried out by controller local area network's CAN bus in real-time track computing module；
The utility model has the advantages that can be realized the 3 D Dynamic Graphics Simulation posture of real-time display excavator, real-time monitoring by the system
Running state information accurately and steadily controls the movement of excavator, plans the track of desired scraper bowl end, realizes and excavate
Machine remote auto control guarantees the safety of operator while improving operating efficiency and operation quality.
Detailed description of the invention
The present invention is done with reference to the accompanying drawings and detailed description and is 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 3 D Dynamic Graphics Simulation posture an example of real-time display excavator of the present invention.
Fig. 4 is the figure of real-time display X, Y, Z axis scraper bowl tooth tip running track an example of the present invention.
Fig. 5 is the structure diagram of excavator under D-H coordinate system.
Fig. 6 is the figure of real-time monitoring excavator running state information an example of the present invention.
Fig. 7 is the interface of real-time control excavator movement of the present invention.
Fig. 8 is long-range control WEB structure figure.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
As depicted in figs. 1 and 2,3 d pose of the invention is shown and its Remote Automatic Control System includes excavator operation
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 202,203 electro-hydraulic proportional valve 208 of dsp controller
The oil liquid control loop formed with multi-way valve 209；The fuel feeding element of 206 composition of pioneer pump 207, front pump 205 and rear pump；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 sensor 101, dipper hydraulic cylinder stay-supported type displacement sensor 103, bucket hydraulic cylinder stay-supported type displacement sensor 105,
The data gather computer structure that electronic compass 215, data collecting card 216 and USB-CAN card 217 form；
Pioneer pump 207 is adjusted according to the control signal of operation handle 201 and computer 202 to electro-hydraulic proportional valve 208
Fuel feeding size and Orientation generates corresponding spool aperture and direction of action, and multi-way valve 209 receives the letter from electro-hydraulic proportional valve 208
Number corresponding spool aperture is generated, to control front pump 205, the changes in flow rate of rear pump 206 makes boom cylinder 210, dipper liquid
Cylinder pressure 211, bucket hydraulic cylinder 212 and rotary motor 213 generate corresponding movement, and above-mentioned signal acquisition and processing are controlled in DSP
It is completed in device 203 processed, dsp controller 203 passes through the 217 bus interface real-time communication of USB-CAN card with by computer 202；
As shown in Figure 1, swing arm stay-supported type displacement sensor 101 is equipped 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 is equipped with electronic compass 215 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 electrical
Handle 201, the oil liquid control loop that the multi-way valve 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 206 composition of pump；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 spool movement in guide's oil liquid driving multi-way valve 209 to system, and
Electro-hydraulic proportional valve 208 adjusts the size and direction of action of pilot pressure oil according to the control signal of electrical handle 201.When electrical
When handle 201 is in middle position, control signal is zero, and the pressure of guide's oil liquid is also zero, and 209 spool of multi-way valve is in two sides control chamber
Middle position is also in interior go back under the action of spring.When electrical handle 201, which acts, generates control signal, according to the size of signal and
Direction, pilot pressure oil can lead to the control chamber of multi-way valve 209, and driving 209 spool model- following control signal of multi-way valve is mobile.Spool
It is moved to the left or right, front pump 205 and rear pump 206 is caused to connect towards the circuit of executing agency's hydraulic cylinder rodless cavity or rod chamber
Logical, under the action of pressure oil liquid, hydraulic cylinder stretches out or retraction.The flexible of executing agency is swing side by electrical handle 201
To decision, and size proportional of its movement 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 carries out data processing, display and storage,
The 3 D Dynamic Graphics Simulation posture of real-time display excavator, the three-D displacement of X, Y, Z axis scraper bowl tooth tip running track and scraper bowl tooth tip
Curve；TRAJECTORY CONTROL module includes real-time track control and trajectory planning two parts, according to the actual displacement of equipment and vehicle
Body turns round signal, controller 203 is fed back to after digital-to-analogue conversion, and convert 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 tooth tip running track, three-D displacement curve and running state information
With storage the following steps are included:
1, combine the three-dimensional visualization model for establishing excavator using two softwares of LabVIEW and SolidWorks, first
The three-dimensional entity model that 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.It is moved for control excavator threedimensional model, by angle of revolution
The displacement of each hydraulic cylinder is connected with the rotary shaft of corresponding model coordinate respectively on degree and equipment, converts these information to
The rotation amount of each reference axis in three-dimensional space, 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；
2, data acquisition module is started to work, 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 collected information of voltage 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 to meter by serial ports
Calculation machine 202；
3, real-time track computing module is started to work, 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 the combined programming of virtual instrument and Matlab, first in void
Matlab Script is created in quasi- instrument, the formula of excavator kinematic calculation is then write in MATLAB Script,
Add required parameter on MATLAB Script block diagram, finds out X, Y, Z axis scraper bowl tooth tip motion profile 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 for establishing excavator under D-H coordinate system as shown in Figure 5 establishes revolution coordinate in centre of gyration O point
System, θ1For angle of revolution；The hinge joint C of swing arm and pedestal establishes swing arm coordinate system, θ2For swing arm joint angle；Dipper and swing arm are cut with scissors
Contact F establishes dipper coordinate system, θ3For dipper joint angle；Dipper and scraper bowl hinge joint Q establish scraper bowl coordinate system, θ4For scraper bowl pass
Save angle；Scraper bucket tooth cusp V establishes tooth tip coordinate system；A point is boom cylinder and vehicle body pedestal hinge joint；B point is swing arm liquid
Cylinder pressure and swing arm hinge joint；D point is dipper hydraulic cylinder and swing arm hinge joint；E point is dipper hydraulic cylinder and dipper hinge joint；F point
For dipper and swing arm hinge joint；Q point is dipper and scraper bowl hinge joint；N point is rocker arm and dipper hinge joint；S point is bucket hydraulic
Cylinder and articulated point of rocker arm；K point is connecting rod and scraper bowl hinge joint.
It is relatively easy due to being connected between hydraulic cylinder and equipment, it can be by geometric method to each hydraulic cylinder of equipment
The relationship of displacement and each joint rotation angle is directly solved, and can calculate joint rotation angle according to the following formula:
Joint is converted by a series of matrix coordinates transformation under D-H coordinate, while by the hydraulic cylinder measured displacement
Angle calculates the coordinate V (x, y, z) and scraper bowl attitude angle ζ of scraper bowl end using following formula:
Wherein, a1It is hinge joint C and centre of gyration O point in x0Length on direction；d1For hinge joint C and centre of gyration O point
In z0Length on direction；a2For the length of CF；a3For the length of FQ；a4For the length of QV；
4, operation information monitoring modular and data acquisition module work at the same time, and real-time monitoring excavator running state information is such as
Shown in Fig. 6, it is connected by USB-CAN module with the CAN of controller 203 mouth, USB-CAN module, which contains, to be called directly
CAN communication dynamic link library file (Dynamic Link Library, DLL), by the message ID character string received and right
The address in polling list is answered to be matched, to parse corresponding data and be shown.Its real-time display excavator fortune
Row status information has: hydraulic fluid temperature, cooling water temperature, engine oil pressure, fuel level, engine speed, front pump principal pressure, after
Principal pressure is pumped, front pump proportioning valve electric current is rear to 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；
5, data memory module real-time storage excavator running state information and X, Y, Z axis scraper bowl tooth tip motion profile.
Above-mentioned TRAJECTORY CONTROL module turns round signal according to the actual displacement of equipment and vehicle body, feeds back after digital-to-analogue conversion
It is converted compared with the track for the scraper bowl end planned to controller 203, and by kinematics analysis, operation control algolithm, shape
At closed loop feedback control comprising real-time track control and trajectory planning two parts, complete method for controlling trajectory are as follows:
1, in the display of excavator 3 d pose, scraper bowl tooth tip running track, three-D displacement curve and running state information
With running track control module on the basis of storage；
2, real-time track control module directly controls boom cylinder 210, dipper hydraulic cylinder 211,212 He of bucket hydraulic cylinder
The interface of the movement of rotary motor 213, the movement of real-time control excavator is as shown in Figure 7.In actual excavation machine TRAJECTORY CONTROL process
In, directly control object for the displacement of each hydraulic cylinder, so needing joint rotation angle to be converted by relevant calculation corresponding hydraulic
These data are finally transferred in slave computer by cylinder length, realize the control to desired trajectory.Call directly USB-CAN module
Communication dynamic link library file realize data transmission, set the data to be sent and send data message ID number after lead to
It crosses Transmit dynamic link library file and is sent directly to CAN bus, controller receives after the data in CAN bus by control
The control of excavator movement is finally realized in the operation of 203 internal processes of device processed；
3, trajectory planning module planning goes out the track of desired scraper bowl end, and controller 203 is actual according to equipment
Displacement and vehicle body turn round signal, and run control algolithm compared with desired track data by kinematics conversion, and formation is closed
Ring feedback control；
In step 3 to guarantee the speed of motion path and the stability of acceleration, reduce system when starting and terminating
Unstability, using the smooth continuous characteristic of 1 rank of higher order polynomial, 2 order derivatives, using quintic algebra curve to motion profile into
Row interpolation；
If quintic algebra curve general formula are as follows:
S (t)=b0+b1t+...+bn-2tn-2+bn-1tn-1(n=6)
Wherein, s (t) is desired motion profile, b0~bn-1For coefficient, t is run duration, to quintic algebra curve general formula
Ask single order and second dervative that the velocity and acceleration formula in path can be obtained, if track is from starting point s0(x0, y0, z0) arrive terminal s1
(x1, y1, z1) total time be tb, constraint condition is
Final planning obtains scraper bowl tooth tip motion profile are as follows:
4, after obtaining scraper bowl tooth tip motion profile, the coordinate V (x, y, z) and scraper bowl posture of the scraper bowl end for needing to plan
Angle ζ is converted to the corner in each joint, this process is realized by Inverse Kinematics Solution, and Inverse Kinematics Solution calculating process is as follows:
By planning desired scraper bowl tooth tip motion profile, the coordinate V (x, y, z) of available scraper bowl end, scraper bowl appearance
Angle α, β and the γ of state angle ζ, Q point coordinate (xq, yq, zq) and CF, CQ, CV and horizontal plane, can calculate according to following formula
The corner in each joint out:
Wherein, CQ and Q point coordinate (xq, yq, zq) calculation formula is as follows:
5, equipment is controlled by the corner in each joint to move along desired scraper bowl end orbit, joint rotation angle is turned
Change corresponding hydraulic cylinder length into；
6, practical boom cylinder stay-supported type displacement sensor 101, dipper hydraulic cylinder stay-supported type displacement sensor are acquired
103, the signal and the desired track data of above-mentioned steps of bucket hydraulic cylinder stay-supported type displacement sensor 105 and electronic compass 215
It compares, closed loop is formed by proportional integral differential (Proportional Integral Derivative, PID) control algolithm
Feedback control, error in judgement generate control amount u (t)；
Control algolithm is controlled according to deviation e (t)=y (t)-r (t) of input r (t) and output y (t), by deviation
Ratio P, integral I and differential D control amount u (t) is constituted by linear combination, be held essentially constant after parameter tuning, control
Rule are as follows:
Wherein, t is time, KPFor the precision of the main regulating system of proportional gain, KISystem is mainly eliminated for integral 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
Cylinder pressure 210, dipper hydraulic cylinder 211, the track data of bucket hydraulic cylinder 212 and rotary motor 213.Exporting y (t) is practical swing arm
Hydraulic cylinder stay-supported type displacement sensor 101, dipper hydraulic cylinder stay-supported type displacement sensor 103, the displacement of bucket hydraulic cylinder stay-supported
The signal of sensor 105 and electronic compass 215.
KP、KIAnd KDThree parameters have extremely important influence, classical PID control to the motion accuracy control of excavator
Device is difficult to obtain three optimal control parameters, and when excavator work operating condition changes greatly, 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 this system in step 6 adjusts KP、KIAnd KD
Three parameters are to combine with particle swarm optimization algorithm the selection in genetic algorithm, Crossover Operator, and be introduced into PID control
In, to realize the accurate control to motion profile.
Each particle represents one group of KP、KIAnd KDParameter, wherein selection mechanism is used to obtain preferable particle, can more have
Effect ground, which obtains, seeks optimal solution.Crossover mechanism then passes through one crossover operator of addition in the algorithm, by the grain specified number
Son is hybridized two-by-two, is generated the new particle of identical quantity, is kept the diversity of population, so that search through is entire as far as possible
A possibility that solution space, reduction falls into local optimum, KP、KIAnd KDSteps are as follows for three parameter tunings:
1. initializing, control parameter K is primarily determined using classical Ziegler-Nichols (ZN) methodP、KIAnd KD's
Range, to reduce the blindness of initial optimization algorithm optimizing；
2. calculating particle fitness, particle swarm optimization algorithm evaluates particle using fitness in entire optimization process
The quality of obtained optimal location, and the foundation as subsequent particle rapidity and location updating.Therefore, in order to obtain control system
Satisfied transition stage dynamic characteristic and the smallest boom cylinder 210, the position of dipper hydraulic cylinder 211 and bucket hydraulic cylinder 212
Static error is set, using Error Absolute Value time integral ITAE (integral of time multiplied by the
Absolute value of error) performance indicator as the objective function of parameter tuning, utilizes 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.Exporting y (t) is that practical swing arm is hydraulic
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 entire population optimal solution, for each particle, if the fitness of current location
It is better than the optimal solution that the particle is found at present, then the individual optimal solution of more new particle, similarly, if current location
Fitness is better than the optimal solution that entire population is found at present, then updates the optimal solution that entire population is found at present, no
Then remain unchanged；
4. executing genetic manipulation, according to the fitness for calculating each particle of gained, is executed by selection and is intersected for population and is grasped
Make.Wherein, by selection operation, population will concentrate search preferably space, but still by itself individual optimal location
It influences.
Crossover operation allows progeny to inherit the gene of parent particle, and makes the father for falling into local optimum region
Local extremum can be fled from for particle, generates more preferably particle；
5. updating particle state, i-th of particle oneself speed in the t+1 times iteration is updated by following formulaThe position and
Wherein,For i-th of particle in the t times iteration oneself speed,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 range [0,4]；r1,r2For the random number being distributed in [0,1].
During carrying out parameter tuning, always it is expected that the particle of optimization algorithm can be gone through in early period all over entire solution space, and
It can accurately be searched in optimal region in the later period.According to this search feature, need to be arranged inertia weight possess it is biggish
Initial value, and capable of slowly reducing at iteration initial stage, and close at the end of can be reduced rapidly, 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 upper limit value and lower limit value, tmaxFor maximum number of iterations, k is non-linear
Controlling elements.
6. examining whether iteration terminates, if current iteration number, which has reached, presets maximum number of iterations, stop
Iteration, optimization terminate, and otherwise, go to pid control parameter adjusting second step.
7, controller 203 receives the control amount u (t) generated in above-mentioned steps 6 and corresponding control by CAN bus
Voltage signal processed is converted into current signal through amplifier, is then input to electro-hydraulic proportional valve 208, and multi-way valve 209 is received from electricity
The signal of liquid proportional valve 208 generates corresponding spool aperture, 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 generate corresponding movement；
8, the excavator running state information and meter of controller 203 will be input in above-mentioned steps using CAN bus network
Calculation machine 202 is by carrying out data exchange.
This system further includes telecommunication network module, and telecommunication network module realizes the remote internet manipulation of excavator, wound
It builds a web page address and is embedded in program, WEB webpage real-time monitor (RTM) is led on any computer in internet
Operating condition, the operation of program can be fully controlled.
The excavator remote internet manipulation can be realized by following manner:
Long-range control global wide area network (World Wide Web, WEB) structure chart is as shown in figure 8, void in computer 202
Quasi- instrument software has telecommunication network module, realizes the remote internet manipulation of excavator, creates a web page address simultaneously
It is embedded in program, so that it may checked on any client computer in internet by WEB webpage real-time monitoring
The operating condition of heavy-duty machine can fully control excavator 3 d pose and show and its operation of Remote Automatic Control System program.
Multiple and different webpages can be issued, the same webpage can be browsed respectively by different monitoring sides, but program can only be by one
Client control, if there is other control terminals are controlling program, this control request just needs to wait.After control request obtains
It just monitors as excavator on the computer of oneself, the difference is that program is still run on the server, is also seen not in webpage
To program rear panel.
It is shown the present invention provides a kind of excavator 3 d pose and Remote Automatic Control System, implements the technical side
There are many method and approach of case, the above is only a preferred embodiment of the present invention, it is noted that for the art
For those of ordinary skill, various improvements and modifications may be made without departing from the principle of the present invention, these improvement
It also should be regarded as protection scope of the present invention with retouching.The available prior art of each component part being not known in the present embodiment is subject to
It realizes.
Claims (1)
1. a kind of excavator 3 d pose is shown and Remote Automatic Control System, which is characterized 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 the oil liquid control loop of multi-way valve (209) composition, 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
Bucket hydraulic cylinder stay-supported type displacement sensor (105), electronic compass (215), data collecting card (216) and USB-CAN card (217) group
At data gather computer structure；
Pioneer pump (207) is adjusted according to the control signal of operation handle (201) and computer (202) to electro-hydraulic proportional valve
(208) fuel feeding size and Orientation, to generate corresponding spool aperture and direction of action；Multi-way valve (209) is received from electricity
The signal of liquid proportional valve (208) simultaneously generates corresponding spool aperture, so that the flow for controlling front pump (205) and rear pump (206) becomes
Change, generates boom cylinder (210), dipper hydraulic cylinder (211), bucket hydraulic cylinder (212) and rotary motor (213) corresponding
Movement, dsp controller (203) and computer (202) pass through USB-CAN card (217) bus interface real-time communication；
Swing arm stay-supported type displacement sensor (101) are installed on boom cylinder (210), are 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) are installed on driver's cabin top；
The data collecting module collected boom cylinder (210), dipper hydraulic cylinder (211) and bucket hydraulic cylinder (212) position
It moves 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 of displacement sensor (103), bucket hydraulic cylinder stay-supported type displacement sensor (105) and electronic compass (215) is exported to real-time
Trajectory computation module；
Real-time track computing module signal based on the received, calculates scraper bowl tooth tip motion profile and three-D displacement curve simultaneously
It exports to three-dimensional visualization module；
The three-dimensional real-time attitude of three-dimensional visualization module data real-time display excavator based on the received；
The TRAJECTORY CONTROL module is for carrying out TRAJECTORY CONTROL, including real-time track control module and trajectory planning module；
The real-time track control module calls directly the communication dynamic link library file in USB-CAN card (217) and 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
It realizes after to data to boom cylinder (210), dipper hydraulic cylinder (211), bucket hydraulic cylinder (212) and rotary motor (213)
Movement directly controls；
The trajectory planning module is used to cook up the track data of desired scraper bowl end；
The operation information monitoring modular is used for real-time display excavator running state information；
The data memory module is for storing excavator running state information and scraper bowl tooth tip motion profile；
The excavator running state information includes: hydraulic fluid temperature, cooling water temperature, engine oil pressure, fuel level, engine
Revolving speed, front pump principal pressure pump principal pressure afterwards, and front pump proportioning valve electric current is rear to pump proportioning valve electric current, swing arm handle voltage, dipper hand
Handle voltage, scraper bowl handle voltage, rotary handle voltage, left threading voltage, right threading voltage, the big cavity pressure of boom cylinder move
The small cavity pressure of arm hydraulic 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, shovel
Struggle against the small cavity pressure of hydraulic cylinder；
System executes following steps:
Step 1, the three-dimensional visualization model for establishing excavator: establishing the three-dimensional entity model of excavator 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 positional relationship and movement relation between；By angle of revolution and by swing arm (102), dipper (104) and scraper bowl
(106) displacement of each hydraulic cylinder is connected with the rotary shaft of corresponding model coordinate respectively on the equipment formed, 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 collected information of voltage is converted into the shift value of actual measurement,
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 tooth tip motion profile and three-D displacement curve；
Step 4, operation information monitoring modular are connected by USB-CAN card (217) with the CAN mouth of dsp controller (203), and
By the address of the excavator operation information message ID character string received from dsp controller (203) and setting being sent on CAN
It is matched, 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 tooth tip motion profile；
Step 3 includes:
Step 3-1 establishes the structure diagram of excavator under D-H coordinate system, establishes revolution coordinate system, θ in centre of gyration O point1To return
Gyration；The hinge joint C of swing arm (102) and pedestal establishes swing arm coordinate system, θ2For swing arm (102) joint angle；Dipper (104) with
Swing arm (102) hinge joint F establishes dipper coordinate system, θ3For dipper (104) joint angle；Dipper (104) and scraper bowl (106) hinge joint
Q establishes scraper bowl coordinate system, θ4For scraper bowl joint angle；Scraper bucket tooth cusp V establishes tooth tip coordinate system；A point be boom cylinder with
Vehicle body pedestal hinge joint；B point is boom cylinder and swing arm hinge joint；D point is dipper hydraulic cylinder and swing arm hinge joint；E point is
Dipper hydraulic cylinder and dipper hinge joint；F point is dipper and swing arm hinge joint；Q point is dipper and scraper bowl hinge joint；N point is rocker arm
With dipper hinge joint；S point is bucket hydraulic cylinder and articulated point of rocker arm；K point is connecting rod and scraper bowl hinge joint；
Step 3-2, normal solution calculates joint rotation angle according to the following formula:
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 following formula, according to joint
Angle θ2、θ3、θ4And θ1Calculate the coordinate V (x, y, z) and scraper bowl attitude angle ζ of scraper bowl end:
Wherein, a1For the length on hinge joint C and centre of gyration O point horizontal direction；d1It is hinge joint C and centre of gyration O point perpendicular
The upward length of histogram；a2For the length of CF；a3For the length of FQ；a4For the length of QV；
The process that the TRAJECTORY CONTROL module carries out TRAJECTORY CONTROL includes:
Step 101, real-time track control module directly controls boom cylinder (210), dipper hydraulic cylinder (211), bucket hydraulic
The movement of cylinder (212) and rotary motor (213), real-time track control module call the communication dynamic link library text of USB-CAN card
Part realizes the transmission of data, carries out data exchange by controller local area network CAN, sets the data to be sent and sends number
According to message ID number after CAN bus is sent directly to by Transmit dynamic link library file, dsp controller (203) receives
The control of excavator movement is finally realized after data on to CAN bus by the operation of dsp controller (203) internal processes；
Step 102, trajectory planning module planning obtains desired scraper bowl tooth tip motion profile；
Step 103, by desired scraper bowl tooth tip motion profile, coordinate V (x, y, z), the scraper bowl attitude angle of scraper bowl end are obtained
ζ, Q point coordinate (xq, yq, zq) and α, β and γ, α be the angle of CF and CQ, β is the angle of CQ and CV, and γ is CV and horizontal plane
Angle calculates the corner in each joint according to following formula against solution:
Wherein, CQ and Q point coordinate (xq, yq, zq) calculation formula is as follows:
Step 104, it controls equipment by the corner in each joint to move along desired scraper bowl end orbit, by joint rotation angle
It is converted into corresponding hydraulic cylinder length；
Step 105, practical boom cylinder stay-supported type displacement sensor (101), dipper hydraulic cylinder stay-supported displacement sensing are acquired
The signal and desired track data of device (103), bucket hydraulic cylinder stay-supported type displacement sensor (105) and electronic compass (215)
It compares, closed loop feedback control is formed by proportional integral differential pid control algorithm, error in judgement generates control amount u (t)；
Step 106, dsp controller (203) receives control amount u (t) by CAN bus 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), multi-way valve (209) reception comes from
The signal of electro-hydraulic proportional valve (208) generates corresponding spool aperture, to control front pump (205), the rear flow for pumping (206) becomes
Change, make boom cylinder (210), dipper hydraulic cylinder (211), bucket hydraulic cylinder (212) and rotary motor (213) generate accordingly
Movement；
Step 102 includes:
Interpolation is carried out to motion profile by following quintic algebra curve:
S (t)=b0+b1t+...+bn-2tn-2+bn-1tn-1(n=6)
Wherein, s (t) is desired motion profile, 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, constraint condition are as follows:
Final planning obtains desired scraper bowl tooth tip motion profile are as follows:
Step 105 includes:
Step 105-1, control amount u (t) calculation formula is as follows:
Wherein, t is the time, and e (t) is the deviation for inputting r (t) and exporting y (t), e (t)=y (t)-r (t), KPFor proportional gain,
KIFor integral gain, KDFor the differential gain；
Step 105-2 primarily determines control parameter K using classical Ziegler-Nichols (ZN) methodP、KIAnd KDModel
It encloses；
Step 105-3, calculates particle fitness, and each particle represents one group of KP、KIAnd KDParameter evaluates grain using fitness
The quality of the obtained optimal location of son, and the foundation as subsequent particle rapidity and location updating, utilize the target of following definition
Function formula calculates the fitness J of each particleITAE:
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), output y (t) are practical 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 entire 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 the fitness of current location
It is better than the optimal solution that entire population is found at present, then updates the optimal solution that entire population is found at present, otherwise keep
It is constant；
Step 105-5 executes genetic manipulation: according to the fitness for calculating each particle of gained, executing selection to population and hands over
Fork operation；
Step 105-6, update particle state, updated by following formula i-th of particle in the t+1 times iteration oneself
SpeedThe position and
Wherein,For i-th of particle in the t times iteration oneself speed,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 is distributed in range [0,4]；r1,r2For the random number being distributed in [0,1]；
Inertia weight w when the t times iterationtAdjustment mode be expressed from the next:
Wherein, wmaxWith wminRespectively inertia weight upper limit value and lower limit value, tmaxFor maximum number of iterations, k is nonlinear Control
The factor；
Step 105-7, examines whether iteration terminates: if current iteration number, which has reached, presets maximum number of iterations,
Stop iteration, optimization terminates, and otherwise, goes to step 105-3；
It further include telecommunication network module, one web page address of telecommunication network module creation is simultaneously embedded in computer (202), is interconnecting
The operating condition for passing through WEB webpage real-time monitor (RTM) on any one computer in net, realizes the long-range behaviour to excavator
Control.
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