Automatic control device, method for excavator bucket trajectory and computer readable storage medium

Abstract

The invention provides an automatic control method for an excavator bucket trajectory. The method comprises the following steps of, S1, determining the quantitative relationship between the attitude angular rate of a movable arm of an excavator and the attitude angular rate of a bucket rod; S2, determining the displacement of a valve element of a control valve of the bucket rod, and controlling the bucket rod to move; S3, determining the attitude angular rate of the movable arm; S4, determining the feed-forward control quantity of the displacement of the valve element of the control valve of the movable arm; S5, determining the feedback control quantity of the displacement of the valve element of the control valve of the movable arm; and S6, determining the displacement control quantity ofthe valve element of the control valve of the movable arm, and controlling the movable arm to move. According to the quantitative relationship of the attitude angular rate of the movable arm and thebucket rod, the linear excavation bucket trajectory is controlled to be converted into matched control of the attitude angular rate of a working device, so that complex calculation such as the inverseoperation of trajectory planning and trajectory-to-attitude angle is omitted, and the control frequency band and response speed are improved

Description

technical field [0001] The invention relates to the field of automatic control, in particular to an excavator bucket trajectory automatic control device, method and computer-readable storage medium. Background technique [0002] With the development of excavator electronic control technology, higher and higher requirements are put forward for the automation level of excavator control. For example, when an excavator is repairing a slope or leveling the ground, it is necessary to control only one handle to realize the linear control of the bucket trajectory, which requires that the stick and the boom can automatically realize the precise matching control of the position. [0003] At present, the research on the automatic trajectory control of the bucket is to convert the planned bucket trajectory into the target angle sequence of each working device, and then realize the tracking control of the bucket trajectory through the angle tracking control of the working device. [000...

AI Technical Summary

Problems solved by technology

The speed of the working arm in the positive flow system depends not only on the opening of the valve port but also on the load pressure. During the compound action, there is speed interference between the working arms due to flow coupling, and it is very difficult to coordinate the movement.

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