论文部分内容阅读
为保证挖掘机在自主挖掘作业中轨迹平稳连续,降低振动冲击,提出了一种轨迹规划方法,即将作业空间中路径进行合理分段,使其在保证轨迹规划结果中路径偏差较小不影响完成工作任务的前提下计算量尽量减小,并对每一段路径进行可变阶多项式插值轨迹规划。以某型单斗液压挖掘机实现自主挖掘为例,采用3-3-5-3-3多项式插值法进行轨迹规划,通过Matlab平台仿真,结果显示挖掘机各关节角位移、角速度、角加速度曲线平滑连续,但部分轨迹段角加速度超出加速度约束值。为进一步提高其动力学特性,对角加速度不满足要求的轨迹段,根据加速度约束,修正多项式最高阶次数,并利用修正后的高阶多项式进行轨迹规划。通过仿真结果对比,该分段可变阶多项式轨迹规划方法能够实现更加平稳连续的自主挖掘。
In order to ensure the smooth and continuous trajectory of the excavator in the independent excavation work and reduce the vibration impact, a trajectory planning method is proposed, which is to reasonably segment the path in the working space so that the path deviation in the guaranteed trajectory planning result is small and does not affect the completion The work load is reduced as much as possible under the premise of task assignment, and variable-order polynomial interpolation trajectory planning is performed for each path. Taking a type of single-bucket hydraulic excavator for autonomous excavation as an example, the 3-3-5-3-3 polynomial interpolation method is used for trajectory planning. The simulation results by Matlab platform show that the angular displacement, angular velocity, angular acceleration curve Smooth and continuous, but part of the trajectory angular acceleration exceeds the acceleration constraint value. In order to further improve its dynamic characteristics, the diagonal acceleration does not meet the requirements of the trajectory segment, according to the acceleration constraint, the polynomial maximum order correction, and the use of the modified high-order polynomial trajectory planning. By comparing the simulation results, the subsection variable-order multinomial trajectory planning method can achieve a more stable and continuous autonomous mining.