The Hardware-In-Loop simulation research on trajectory control and modeling parameter estimation of working device of hydraulic excavator

摘要

The retrofitted electro-hydraulic system for hydraulic robotic excavator was introduced. According to the principle and characteristic of LUDV system, the model of electro-hydraulic system was derived, simplified and verified by relative experiment. Trajectory controller prototype was designed based on incremental theory of trajectory controlling to verify the accuracy of the controlling. Trajectory controller and VR software compose Hardware-In-Loop simulation environment. Under the circumstances, the level straight digging experiment of model trajectory controlling was set. Good control effect was achieved by adjusting controlling parameters, finally anticipated controlling requirement can be accomplished by trajectory controller prototype system. By analyzing the structure and load-bearing of boom, the method and equations of estimation for such parameters, the range of flow gain coefficient (Kq) was given on the base of experiment identification. It shows that the foundation for the trajectory tracking and accurately location control of excavator's manipulator is laid.