机构地区: 辽宁工程技术大学机械工程学院
出 处: 《中国工程机械学报》 2007年第1期72-74,112,共4页
摘 要: 对液压挖掘机的工作装置进行三自由度的动力学分析,利用拉格朗日方法建立其动力学方程,并对挖掘机计算机控制进行了改造,绘出了PID控制的框图以及铲斗轨迹跟踪方程表达式.研究结果可以用于挖掘机工作装置的轨迹规划和运动控制. In this study, a three-degree-freedom (3DF) dynamical analysis is first conducted for the manipulator of a hydraulic excavator. Afterwards, a dynamical function is established based on the Lagrangian equation. Meanwhile, the computerized control, PID control diagram and scoop-path tracking equation are adapted. Finally, this approach has been proven effective in trajectory tracking and motion control of the manipulator.
领 域: [交通运输工程]