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

A technology for excavators and buckets, applied in the field of automatic control, can solve problems such as speed interference and difficulty in coordinated movement, and achieve the effects of improving frequency band and response speed, good consistency, and strong engineering practicability

Active Publication Date: 2019-11-05
XIAN FLIGHT SELF CONTROL INST OF AVIC
View PDF5 Cites 11 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 t

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Automatic control device, method for excavator bucket trajectory and computer readable storage medium
  • Automatic control device, method for excavator bucket trajectory and computer readable storage medium
  • Automatic control device, method for excavator bucket trajectory and computer readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0039] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0040] figure 1 As shown, it is a flow chart of an embodiment of an excavator bucket trajectory automatic control method of the present invention, including:

[0041] Step S1: According to the position of the excavator bucket and the trajectory of the excavator bucket, determine the quantitative relationship between the attitude angular rate of the excavator's boom and the attitude angular rate of the arm;

[0042] Step S2: Determine the displacement of the control valve spool of the stick according to the displacement of the joystick of the excavator, and control the movement of the stick;

[0043] Step S3: Determine the attitude angular rate of the stick, and determine the attitude angular rate of the boom according to...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): E02F3/43
CPCE02F3/43
Inventor 李佳王东辉李国玉刘涛
Owner XIAN FLIGHT SELF CONTROL INST OF AVIC
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap