Excavator control methods, devices, excavators and storage media

Abstract

This application relates to an excavator control method, device, excavator, and storage medium, belonging to the field of engineering machinery technology. The excavator control method includes obtaining the desired position of the excavator's bucket end; obtaining the desired angles of multiple movable joints of the excavator based on the desired position; obtaining the actual angles and actual angular velocities of each of the multiple movable joints; and, based on the desired angles, actual angles, and actual angular velocities, running a finite-time control model and a constrained system model of the excavator to control the multiple movable joints to adjust from their actual angles to their desired angles within a preset time range. The excavator control method, device, excavator, and storage medium provided in this application enable the excavator's movable joints to quickly and accurately reach the desired angles, and limit the angles of the movable joints within safe boundaries, effectively reducing the risk of safety accidents.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to an excavator control method, device, excavator, and storage medium. Background Technology

[0002] Currently, applying remote control systems to excavators to achieve semi-automatic operation can improve work efficiency. However, as a highly integrated type of construction machinery, excavators are characterized by strong nonlinearity, strong coupling, parameter uncertainty, and complex and variable loads. This makes it easy for existing remote control systems to cause the excavator's movable joints to fail to quickly and accurately reach the desired angle, and to move beyond safety boundaries, increasing the risk of accidents. Summary of the Invention

[0003] To address the aforementioned technical problems, embodiments of this application provide an excavator control method, device, excavator, and storage medium, which enables the excavator's movable joints to quickly and accurately reach the desired angle and limits the angle of the movable joints within a safe boundary, effectively reducing the risk of safety accidents.

[0004] Firstly, an excavator control method is provided, including:

[0005] Obtain the desired position of the excavator's bucket end;

[0006] Based on the desired position, the desired angles of each of the multiple movable joints of the excavator are obtained;

[0007] Obtain the actual angle and actual angular velocity of each of the multiple active joints; and

[0008] Based on the desired angle, the actual angle, and the actual angular velocity, the finite-time control model and the constrained system model of the excavator are run to control multiple movable joints to adjust from their respective actual angles to their respective desired angles within a preset time range.

[0009] According to a first aspect of this application, the movable joint includes a first movable joint, a second movable joint, and a third movable joint; wherein, the first movable joint represents the connection joint between the boom of the excavator and the body of the excavator; the second movable joint represents the connection joint between the stick of the excavator and the boom of the excavator; and the third movable joint represents the connection joint between the bucket of the excavator and the stick of the excavator.

[0010] The step of obtaining the desired angles of each of the multiple movable joints of the excavator based on the desired position includes:

[0011] Based on the desired position, the desired angles of the first movable joint, the second movable joint, and the third movable joint are obtained respectively.

[0012] According to a first aspect of this application, prior to the operation of the finite-time control model of the excavator and the constrained system model of the excavator, the excavator control method further includes:

[0013] Obtain the original system model of the excavator; and

[0014] Based on the original system model and the obstacle function, the constrained system model is obtained; wherein, the obstacle function represents a constraint function that limits the changes of state variables in the original system model.

[0015] According to a first aspect of this application, prior to running the finite-time control model and the constrained system model, the excavator control method further includes:

[0016] Based on the actual angular velocity and the actual angle, a finite-time control model based on a high-order sliding mode control system is constructed.

[0017] According to a first aspect of this application, after constructing the finite-time control model, the excavator control method further includes:

[0018] The constrained system model is analyzed based on the finite-time control model to output analysis results; wherein the analysis results characterize the angle convergence of the multiple active joints within the preset time range.

[0019] According to a first aspect of this application, the step of operating a finite-time control model of the excavator and a constrained system model of the excavator based on the desired angle, the actual angle, and the actual angular velocity, and controlling multiple movable joints to adjust from their respective actual angles to their respective desired angles within a preset time range includes:

[0020] Based on the desired angle, the actual angle, and the actual angular velocity, run the finite-time control model and the constrained system model of the excavator, and output a control strategy; and

[0021] According to the control strategy, the movement of multiple movable joints is controlled so that the multiple movable joints adjust from their respective actual angles to their respective desired angles within a preset time range.

[0022] Secondly, an excavator control device is also provided, comprising:

[0023] The first acquisition module is configured to acquire the desired position of the bucket end of the excavator;

[0024] The first calculation module is configured to obtain the desired angles of each of the multiple movable joints of the excavator based on the desired position.

[0025] The second acquisition module is configured to acquire the actual angle and actual angular velocity of each of the multiple active joints; and

[0026] The first control module is configured to run a finite-time control model and a constrained system model of the excavator based on the desired angle, the actual angle, and the actual angular velocity, and control multiple movable joints to adjust from their respective actual angles to their respective desired angles within a preset time range.

[0027] Thirdly, an excavator is also provided, including:

[0028] Organism;

[0029] The excavator control device, as described above, is located on the machine body.

[0030] Fourthly, an excavator is also provided, including:

[0031] Organism;

[0032] An electronic device is disposed on the machine body, and the electronic device is configured to perform the excavator control method as described above.

[0033] Fifthly, a computer-readable storage medium is also provided, the storage medium storing a computer program for executing the excavator control method described in the above embodiments.

[0034] The excavator control method, device, excavator, and storage medium provided in this application obtain the desired position of the excavator's bucket end, then obtain the desired angles of multiple movable joints of the excavator based on the desired position of the bucket end, and then obtain the actual angles and actual angular velocities of each of the multiple movable joints. Based on the desired angles, actual angles, and actual angular velocities, a finite-time control model and a constrained system model of the excavator are run to control the multiple movable joints to adjust from their actual angles to their desired angles within a preset time range. By running the constrained system model of the excavator, the multiple movable joints operate under constrained conditions, ensuring that the actual angles of the multiple movable joints always remain within their respective safety boundaries and do not exceed the safety boundaries, thus reducing the risk of safety accidents. By running the finite-time control model of the excavator, the multiple movable joints can quickly and accurately adjust from their actual angles to their desired angles within a preset time range, effectively improving construction efficiency. Attached Figure Description

[0035] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0036] Figure 1 This is a flowchart illustrating an exemplary embodiment of the excavator control method provided in this application.

[0037] Figure 2 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application.

[0038] Figure 3 This is a flowchart illustrating an excavator control method provided in another exemplary embodiment of this application.

[0039] Figure 4 This is a schematic diagram of the structure of an excavator provided for an exemplary embodiment of this application.

[0040] Figure 5 A reference table of system parameters provided for an exemplary embodiment of this application.

[0041] Figure 6 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application.

[0042] Figure 7 A reference table of gain parameters provided for an exemplary embodiment of this application.

[0043] Figure 8 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application.

[0044] Figure 9 A schematic diagram illustrating the analysis results provided for an exemplary embodiment of this application.

[0045] Figure 10 A schematic diagram of the analysis results provided for another exemplary embodiment of this application.

[0046] Figure 11 A schematic diagram of the analysis results provided for another exemplary embodiment of this application.

[0047] Figure 12 A schematic diagram of the analysis results provided for another exemplary embodiment of this application.

[0048] Figure 13 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application.

[0049] Figure 14 A structural block diagram of an excavator control device provided for an exemplary embodiment of this application.

[0050] Figure 15 A structural block diagram of an excavator control device provided for another exemplary embodiment of this application.

[0051] Figure 16 A structural block diagram of an excavator provided for another exemplary embodiment of this application.

[0052] Figure 17 A structural block diagram of an excavator provided for another exemplary embodiment of this application.

[0053] Figure 18 A structural block diagram of an electronic device provided for an exemplary embodiment of this application. Detailed Implementation

[0054] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0055] Figure 1 This is a flowchart illustrating an exemplary embodiment of the excavator control method provided in this application. Figure 1 As shown, the excavator control method provided in this application embodiment may include:

[0056] S210: Obtain the desired position of the excavator's bucket end.

[0057] In one embodiment, the desired position of the excavator's bucket end can be obtained through a bucket trajectory control system in a remote control system. Generally, the bucket trajectory control system can obtain the desired position of the bucket end based on the current working conditions. Specific control methods for the bucket trajectory control system are described in related technologies and will not be repeated here.

[0058] Specifically, the desired position of the bucket end can be understood as the position that the bucket end needs to reach at the next time node or at the next action node.

[0059] It should be noted that the bucket end can be understood as the end of the bucket furthest from the stick.

[0060] S220: Based on the desired position, obtain the desired angles of each of the excavator's multiple movable joints.

[0061] Specifically, by adjusting the angles of the excavator's movable joints, the position of the bucket end can be changed. Therefore, after obtaining the desired position of the excavator's bucket end, the desired angles of the excavator's multiple movable joints can be deduced based on the desired position.

[0062] In one embodiment, the movable joints of the excavator may include the connecting joint between the excavator's boom and body, the connecting joint between the excavator's stick and boom, and the connecting joint between the excavator's bucket and stick, etc.

[0063] S230: Obtain the actual angle and actual angular velocity of each of the multiple moving joints.

[0064] Specifically, an angle sensor and an angular velocity sensor can be installed on each movable joint. The angle sensor can detect the actual angle of the corresponding movable joint, and the angular velocity sensor can detect the actual angular velocity of the corresponding movable joint.

[0065] Taking the connection joint between the boom and the body as an example, the angle between the boom and the body can be understood as the actual angle of the movable joint, and the angular velocity of the boom relative to the body can be understood as the actual angular velocity of the movable joint.

[0066] S240: Based on the desired angle, actual angle, and actual angular velocity, the excavator's finite-time control model and constrained system model are run to control multiple moving joints to adjust from their respective actual angles to their respective desired angles within a preset time range.

[0067] Specifically, under the control of the finite-time control model, the constrained system model can be adjusted and transformed according to a certain control strategy based on the desired angle, actual angle, and actual angular velocity, thereby controlling multiple active joints to adjust from their respective actual angles to their respective desired angles within a preset time range.

[0068] It should be understood that when running a constrained system model, multiple moving joints move under constrained conditions, ensuring that the actual angles of the multiple moving joints are always within their respective safety boundaries and will not exceed the safety boundaries, thus reducing the risk of safety accidents.

[0069] In one embodiment, the safety boundary may include a preset upper boundary and a preset lower boundary. When running a constrained system model, the actual angle of the movable joint is always between the preset upper boundary and the preset lower boundary.

[0070] In one embodiment, different movable joints correspond to different safety boundaries.

[0071] It should be understood that by running a finite-time control model, multiple moving joints can be quickly and accurately adjusted from their actual angles to their desired angles within a preset time range, effectively improving construction efficiency.

[0072] In one embodiment, the preset time range can be set according to the actual situation, and this application does not specifically limit the preset time range.

[0073] The excavator control method provided in this application obtains the desired position of the excavator's bucket end, then obtains the desired angles of multiple movable joints of the excavator based on the desired position of the bucket end, then obtains the actual angles and actual angular velocities of each movable joint, and then runs a finite-time control model and a constrained system model of the excavator based on the desired angles, actual angles, and actual angular velocities. This controls the multiple movable joints to adjust from their actual angles to their desired angles within a preset time range. By running the constrained system model of the excavator, the multiple movable joints operate under constrained conditions, ensuring that the actual angles of the multiple movable joints always remain within their respective safety boundaries and do not exceed the safety boundaries, thus reducing the risk of safety accidents. By running the finite-time control model of the excavator, the multiple movable joints can quickly and accurately adjust from their actual angles to their desired angles within a preset time range, effectively improving construction efficiency.

[0074] Figure 2 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 2 As shown, step S220 may include:

[0075] S221: Based on the desired position, obtain the desired angles of the first movable joint, the second movable joint, and the third movable joint.

[0076] Specifically, the aforementioned movable joints include a first movable joint, a second movable joint, and a third movable joint. The first movable joint can be understood as the connecting joint between the excavator's boom and the excavator's body, the second movable joint can be understood as the connecting joint between the excavator's stick and the excavator's boom, and the third movable joint can be understood as the connecting joint between the excavator's bucket and the excavator's stick.

[0077] It should be understood that by simultaneously adjusting the angles of the first, second, and third movable joints, the position of the bucket end can be adjusted more accurately. Therefore, by obtaining the desired angles of the first, second, and third movable joints according to the desired position, the accuracy of the adjusted position of the bucket end can be improved.

[0078] In one embodiment, the position of the bucket end can also be adjusted by adjusting the angle of any one or two of the first movable joint, the second movable joint, and the third movable joint.

[0079] Figure 3 This is a flowchart illustrating an excavator control method provided in another exemplary embodiment of this application. Before step S240, the excavator control method further includes:

[0080] S250: Obtain the original system model of the excavator.

[0081] S260: Based on the original system model and the obstacle function, the constrained system model is obtained.

[0082] Specifically, the obstacle function can be understood as a constraint function that limits the changes of state variables in the original system model. Under the constraint of the obstacle function, running the constrained system model can ensure that the angles of multiple active joints are always within the safe boundary.

[0083] Figure 4 This is a schematic diagram of the structure of an excavator provided for an exemplary embodiment of this application. In one embodiment, reference is made to... Figure 4 The original system model of the excavator is:

[0084]

[0085] In the formula, q = [q1 q2 q3] T Let M(q) be the system state vector, representing the joint angles of the first, second, and third movable joints of the excavator, respectively, where M(q)∈R. 3×3 The inertia matrix, Let G(q) ∈ R be a centripetal Coriolis matrix. 3 It is the gravity vector. For joint torque, This represents external disturbances. J(q) is the Jacobian matrix, representing the relationship between the angular velocities of the bucket end and multiple moving joints, expressed mathematically as follows:

[0086]

[0087] In the formula, The position and direction of the bucket's end are indicated by the following expression:

[0088] x=L1 cosq1+L2 cos(q1-q2)+L3 cos(q1-q2-q3)

[0089] y=L1 sinq1+L2 sin(q1-q2)+L3 sin(q1-q2-q3)

[0090]

[0091] In the formula, L1, L2, and L3 represent the lengths of the boom, stick, and bucket, respectively.

[0092] The torque of the excavator's first, second, and third movable joints is provided by the corresponding hydraulic cylinders, as expressed mathematically below:

[0093]

[0094] In the formula, u = [u1, u2, u3] T J represents the force provided by the hydraulic cylinder. a (q) is the Jacobian matrix of the excavator drive system, which is obtained based on the geometric relationship between the angles of the first, second, and third movable joints and the displacements of the corresponding hydraulic cylinders. The mathematical expression is as follows:

[0095]

[0096] In the formula, c = [c1 c2 c3] T This represents the driving length of the hydraulic rod, and:

[0097]

[0098]

[0099]

[0100] in:

[0101]

[0102]

[0103]

[0104] In the above formula: d3, e3, f3 are the corresponding parts in the excavator (e.g., Figure 4 (As shown) The length and angle to be measured.

[0105] Based on the above analysis, the dynamic model of the excavator system can be expressed as:

[0106]

[0107] Then, the barrier function is introduced:

[0108]

[0109] In the formula, f i , For positive constants, the selection criteria are as follows:

[0110]

[0111] For ζ i Taking the derivative with respect to time t, we get:

[0112]

[0113] in:

[0114]

[0115]

[0116] Then Rewrite in matrix-vector form:

[0117]

[0118] Where: ζ=[ζ1,ζ2,ζ3] T ∈R 3 η1=diag{η 11 ,η 12 ,η 13}∈R 3×3 η2=[η 21 ,η 22 ,η 23 ] T ∈R 3 ;

[0119] Then, to Taking the derivative with respect to time t, we get Then and Substitution

[0120] We can obtain:

[0121]

[0122] Multiply both sides of the above equation by the left side. The following forms are obtained:

[0123]

[0124] in:

[0125] Through the above transformations, the system is converted into the following constrained form:

[0126]

[0127] in:

[0128] This constrained form is the aforementioned constrained system model.

[0129] It should be noted that, from the barrier function ζ i The expression shows that if the initial value of the system state satisfies Then only when q i (t)→-F i (t) or Only then will there be ζ i →∞. Therefore, if it can be proven that ζ i Given the boundedness of the system, we can derive that the system state is strictly constrained within the following time-varying boundary:

[0130]

[0131] Therefore, when the introduced obstacle function is bounded, the angles of the first, second, and third movable joints in the resulting constrained system model will always be within the restricted safety boundary.

[0132] It should be noted that the system parameters selected in the constrained system model differ depending on the size and type of excavator. For example, Figure 5 A reference table of system parameters provided for an exemplary embodiment of this application, such as Figure 5 As shown in the embodiments of this application, the constraint system model can be referred to Figure 5 The reference table shown selects system parameters.

[0133] Figure 6 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 6 As shown, before step S240, the excavator control method may further include:

[0134] S270: Construct a finite-time control model based on a high-order sliding mode control system, using the actual angular velocity and actual angle.

[0135] Specifically, based on the finite-time control model of the high-order sluice box control system, while ensuring that multiple moving joints adjust from their actual angles to their desired angles within a preset time range, it also has strong robustness, reduces the impact of bucket end resistance interference during actual construction, and improves the accuracy of the final desired angle.

[0136] In one embodiment, step S270 can be executed after steps S250 and S260. Alternatively, steps S250 and S260 can be executed after step S270.

[0137] In one embodiment, the process of constructing a finite-time control model based on a high-order sliding mode control system is as follows:

[0138] Define the error signal: e = ζ - ζ d

[0139] In the formula: ζ d =[ζ d1 ,ζ d2 ,ζ d3 ] T ,

[0140] The controller u is designed as follows:

[0141]

[0142] in: s1, u a The expression is as follows:

[0143]

[0144]

[0145] In the formula: sign(s1) = [sign(s... 11 ),sign(s 12 ),sign(s 13 )] T , λ1=diag{λ 11 ,λ 12 ,λ 13}, λ2=diag{λ 21 ,λ 22 ,λ 23}, K1=diag{k 11 ,k12 ,k 13}, K2=diag{k 21 ,k 22 ,k 23}, K3=diag{k 31 ,k 32 ,k 33} represents the gain parameter matrix to be designed, ò 1i , ò 2i μ 1i μ 2i The following criteria are used to select the gain parameters to be designed:

[0146]

[0147] in: They are respectively and The upper boundary.

[0148] Take the derivative of s1 with respect to time t, and substitute it into... Combination

[0149] After calculation and rearrangement, we can obtain:

[0150]

[0151] Let s2 = u a +d * We can obtain the following relationship:

[0152]

[0153]

[0154] It should be noted that the selection of the gain parameter to be designed in the finite-time control model differs for excavators with different control requirements. For example, Figure 7 A reference table of gain parameters provided for an exemplary embodiment of this application, such as Figure 7 As shown in the embodiments of this application, the finite-time control model can be referred to Figure 7 The reference table shown selects the gain parameters.

[0155] In addition, to simplify the Lyapunov stability analysis, the vector Ξ is introduced. i =[Ξ 1i ,Ξ 2i ,Ξ 3i ] T ,in:

[0156]

[0157] Ξ 2i =s1i

[0158] Ξ 3i =s 2i

[0159] For it (except s) 1i (Except for 0) Taking the derivative with respect to time t, we get:

[0160]

[0161]

[0162]

[0163] In the formula, Construct the following Lyapunov function:

[0164] V 1i =Ξ i T P 0i Ξ i

[0165] in: For V 1i Differentiating with respect to time t, we obtain the following expression:

[0166]

[0167] Further calculations and simplification yield the following expression:

[0168]

[0169] When ||Ξ 1i ||≤ò 2i hour, The above formula can be simplified to:

[0170]

[0171] Where: Φ i =[|Ξ 1i ||,||Ξ 2i ||,||Ξ 3i ||] T , When the parameter selection requirements are met, P 1i Since it is a positive definite matrix, we can deduce that:

[0172]

[0173] Based on the properties, combined with ||Φ i ||=||Ξ i The following inequalities hold true:

[0174] λ min (P 1i )||Ξ i || 2 ≤Φ i T P 1i Φ i ≤λ max (P 1i )||Ξ i || 2

[0175] λ min (P 0i )||Ξ i ||≤V 1i =Ξ i T P 0i Ξ i ≤λ max (P 0i )||Ξ i || 2

[0176] Further releases:

[0177]

[0178] When ||Ξ 1i ||≥ò 2i hour, It must meet the following form:

[0179]

[0180] In the formula, Y i =[Ξ 1i ,Ξ 3i ] T ,

[0181] When the gain parameter meets the selection criteria, P 2i P 3i Since it is a positive definite matrix, we can further deduce that:

[0182]

[0183] Combine ||Ξ 1i The two cases of the || value range lead to the introduction of the vector Ξ i =[Ξ 1i ,Ξ 2i ,Ξ 3i ] T Asymptotic stability means that there exists a finite time T1 such that s1i s 2i It converges to the bounded domain of the equilibrium point. Secondly, according to the finite-time stability condition, the existence time... Converging to the equilibrium point, in summary, s 1i s 2i It converges to the equilibrium point within a finite time T1+T2.

[0184] When t > T1 + T2, s 1i =s 2i =0, substitute the controller into Ξ i =[Ξ 1i ,Ξ 2i ,Ξ 3i ] T We can obtain:

[0185]

[0186] Let x 1i =e i , Then the following equation holds:

[0187]

[0188]

[0189] Construct the following Lyapunov function:

[0190]

[0191] V 2i The derivative with respect to time t is:

[0192]

[0193] Further releases:

[0194]

[0195] In conclusion, when At that time, x 2i =0, x 1i =0, according to the Lassell invariant set principle, x 1i =e i , Asymptotically stable. Combining the properties of negative homogeneity and finite time, we know that there exists a time T3 such that x... 1i =e i , After finite-time stability, the error signal e is further derived. i The system reaches state 0 in finite time, meaning it operates on a finite-time control model based on a high-order sliding mode control system, with system state q = [q1, q2, q3].T The desired position q can be reached within a finite time T1+T2+T3. d =[q 1d ,q 2d ,q 3d ] T And it is constrained within the set upper and lower safety boundaries, that is

[0196] Figure 8 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 8 As shown, after step S270, the excavator control method further includes:

[0197] S280: Analyze the constrained system model based on the finite-time control model to output the analysis results.

[0198] Specifically, the analysis results characterize the angle convergence of multiple movable joints within a preset time range. It should be understood that analyzing the constrained system model confirms whether the angle changes of multiple movable joints ultimately converge when running the finite-time control model. If convergence occurs, the constructed finite-time control model and constrained system model can be considered reasonable and can effectively control the multiple movable joints to adjust from their actual angles to their desired angles within the preset time range. If convergence does not occur, it indicates a problem with the finite-time control model and / or constrained system model, requiring modification.

[0199] Figure 9 This is a schematic diagram illustrating the analysis results provided for an exemplary embodiment of this application. For example... Figure 9 As shown, the initial actual angle values ​​of the first, second, and third movable joints are q1(0) = 0.1 rad, q2(0) = 0.1 rad, and q3(0) = 0.2 rad, respectively. The simulation results indicate that the desired angles of the first, second, and third movable joints can all converge to 0.5 rad, i.e., q 1d =q 2d =q 3d =0.5 rad.

[0200] Figure 10 A schematic diagram illustrating the analysis results provided for another exemplary embodiment of this application. (See diagram below.) Figure 10 As shown, the initial actual angle values ​​of the first, second, and third movable joints are q1(0) = 0.1 rad, q2(0) = -0.1 rad, and q3(0) = -0.2 rad, respectively. The simulation results indicate that the expected angles of the first, second, and third movable joints converge, i.e., q1d =0.5rad, q 2d =q 3d = -0.5 rad.

[0201] Figure 11 A schematic diagram illustrating the analysis results provided for another exemplary embodiment of this application. (See diagram below.) Figure 11 As shown, the initial actual angle values ​​of the first, second, and third movable joints are q1(0) = 0.1 rad, q2(0) = -0.1 rad, and q3(0) = -0.2 rad, respectively. The simulation results indicate that the expected angles of the first, second, and third movable joints converge, i.e., q 1d =0.5rad, q 2d =q 3d = -0.5rad, the expected angle of convergence lies between the preset upper bound and the preset lower bound, where the preset upper bound is selected as... Preset lower bound is selected as F i (t)=-1.1-e -t rad.

[0202] Figure 12 A schematic diagram illustrating the analysis results provided for another exemplary embodiment of this application. (See diagram below.) Figure 12 As shown, the initial actual angle values ​​of the first, second, and third movable joints are q1(0) = 0.1 rad, q2(0) = -0.1 rad, and q3(0) = -0.2 rad, respectively. The bucket end resistance d... * Selection: 45[cos(t)+sin(t),cos(t)+sin(t),cos(t)+sin(t)] T N, the simulation results show that the expected angles of the first, second and third movable joints still converge, that is, q1(0) = 0.5 rad, q2(0) = -0.5 rad, q3(0) = -0.5 rad.

[0203] Figure 13 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 13 As shown, step S240 may include:

[0204] S241: Based on the desired angle, actual angle, and actual angular velocity, run the finite-time control model and the constrained system model of the excavator, and output the control strategy.

[0205] S242: According to the control strategy, control the movement of multiple movable joints so that the multiple movable joints adjust from their actual angles to their desired angles within a preset time range.

[0206] Specifically, the control strategy is used to control the specific actions of multiple movable joints at different time points. Through different control actions at consecutive time points, the multiple movable joints can be quickly and accurately adjusted from their actual angles to their desired angles within a preset time range.

[0207] It should be noted that, in Figures 9 to 12 In this context, the changes in the actual angles of the first, second, and third movable joints at different time points can characterize the corresponding control strategy.

[0208] Figure 14 This is a structural block diagram of an excavator control device provided as an exemplary embodiment of this application. (See diagram below.) Figure 14 As shown, the excavator control device 400 provided in this application embodiment may include: a first acquisition module 410, configured to acquire the desired position of the excavator's bucket end; a first calculation module 420, configured to obtain the desired angles of each of the excavator's multiple movable joints based on the desired position; a second acquisition module 430, configured to acquire the actual angles and actual angular velocities of each of the multiple movable joints; and a first control module 440, configured to run a finite-time control model and a constrained system model of the excavator based on the desired angles, actual angles, and actual angular velocities, and control the multiple movable joints to adjust from their actual angles to their desired angles within a preset time range.

[0209] The excavator control device provided in this application embodiment operates a constrained system model of the excavator, causing multiple movable joints to move under constrained conditions. This ensures that the actual angles of the multiple movable joints are always within their respective safety boundaries and will not exceed the safety boundaries, thus reducing the risk of safety accidents. Furthermore, by operating a finite-time control model of the excavator, the multiple movable joints can be quickly and accurately adjusted from their actual angles to their desired angles within a preset time range, effectively improving construction efficiency.

[0210] Figure 15 A structural block diagram of an excavator control device provided as another exemplary embodiment of this application. (See diagram below.) Figure 15 As shown, in one embodiment, the first calculation module 420 can also be configured to obtain the desired angles of the first movable joint, the second movable joint, and the third movable joint according to the desired position.

[0211] like Figure 15As shown, in one embodiment, the excavator control device 400 may further include a third acquisition module 450 configured to acquire the original system model of the excavator; and a second calculation module 460 configured to obtain a constrained system model based on the original system model and the obstacle function; wherein the obstacle function represents a constraint function that limits the operating boundary of the original system model.

[0212] like Figure 15 As shown, in one embodiment, the excavator control device 400 may further include a construction module 470 configured to construct a finite-time control model based on a high-order sliding mode control system according to the actual angular velocity and the actual angle.

[0213] like Figure 15 As shown, in one embodiment, the excavator control device 400 may further include a simulation module 480, configured to analyze the constrained system model according to the finite-time control model, so as to output the analysis results; wherein, the analysis results characterize the angle convergence of multiple active joints within a preset time range.

[0214] like Figure 15 As shown, in one embodiment, the first control module 440 may include an output module 441 configured to run a finite-time control model and a constrained system model of the excavator according to the desired angle, the actual angle and the actual angular velocity, and output a control strategy; and a second control module 442 configured to control the movement of multiple movable joints according to the control strategy, so that the multiple movable joints adjust from their respective actual angles to their respective desired angles within a preset time range.

[0215] Figure 16 A structural block diagram of an excavator provided as another exemplary embodiment of this application. (See diagram below.) Figure 16 As shown, the excavator 600 provided in this application embodiment may include: a body 610; and an excavator control device 400 as described above, disposed on the body 610.

[0216] The excavator 600 provided in this application embodiment has all the functions of the excavator control device 400. By running the excavator's constrained system model, it enables multiple movable joints to move under constrained conditions, ensuring that the actual angles of the multiple movable joints are always within their respective safety boundaries and will not exceed the safety boundaries, thus reducing the risk of safety accidents. By running the excavator's finite-time control model, it enables multiple movable joints to quickly and accurately adjust from their actual angles to their respective desired angles within a preset time range, effectively improving construction efficiency.

[0217] Figure 17 A structural block diagram of an excavator provided as another exemplary embodiment of this application. (See diagram below.) Figure 17As shown, the excavator 700 provided in this application embodiment may include: a body 710; and an electronic device 720, which is disposed on the body 710 and configured to execute the excavator control method as described above.

[0218] The excavator 700 provided in this application embodiment, by running the excavator's constrained system model, enables multiple movable joints to move under constrained conditions, ensuring that the actual angles of the multiple movable joints are always within their respective safety boundaries and will not exceed the safety boundaries, thus reducing the risk of safety accidents; by running the excavator's finite-time control model, the multiple movable joints can be quickly and accurately adjusted from their actual angles to their respective desired angles within a preset time range, effectively improving construction efficiency.

[0219] Figure 18 This is a structural block diagram of an electronic device provided as an exemplary embodiment of this application. (See diagram below.) Figure 18 As shown, the electronic device 720 can be either or both of the first device and the second device, or a standalone device independent of them, which can communicate with the first device and the second device to receive the collected input signals from them.

[0220] like Figure 18 As shown, the electronic device 720 includes one or more processors 721 and memory 722.

[0221] The processor 721 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 720 to perform desired functions.

[0222] The memory 722 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 721 may execute the program instructions to implement the control methods and / or other desired functions of the various embodiments of this application described above. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0223] In one example, the electronic device 720 may also include an input device 723 and an output device 724, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0224] When the controller is a standalone device, the input device 723 can be a communication network connector for receiving the acquired input signals from the first device and the second device.

[0225] In addition, the input device 723 may also include, for example, a keyboard, a mouse, etc.

[0226] The output device 724 can output various information to the outside, including determined distance information, direction information, etc. The output device 724 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0227] Of course, for the sake of simplicity, Figure 18 Only some of the components of the electronic device 720 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 720 may include any other suitable components depending on the specific application.

[0228] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0229] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0230] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0231] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0232] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0233] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0234] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for controlling an excavator, characterized in that, include: Obtain the desired position of the excavator's bucket end; Based on the desired position, the desired angles of each of the multiple movable joints of the excavator are obtained; Obtain the actual angle and actual angular velocity of each of the multiple active joints; Based on the actual angular velocity and the actual angle, a finite-time control model based on a high-order sliding mode control system is constructed. Based on the desired angle, the actual angle, and the actual angular velocity, the finite-time control model and the constraint system model of the excavator are run to control multiple movable joints to adjust from their respective actual angles to their respective desired angles within a preset time range.

2. The excavator control method according to claim 1, characterized in that, The movable joint includes a first movable joint, a second movable joint, and a third movable joint; wherein, the first movable joint represents the connection joint between the excavator's boom and the excavator's body; the second movable joint represents the connection joint between the excavator's stick and the excavator's boom; and the third movable joint represents the connection joint between the excavator's bucket and the excavator's stick. The step of obtaining the desired angles of each of the multiple movable joints of the excavator based on the desired position includes: Based on the desired position, the desired angles of the first movable joint, the second movable joint, and the third movable joint are obtained respectively.

3. The excavator control method according to claim 1, characterized in that, Before the finite-time control model of the excavator and the constrained system model of the excavator are established, the excavator control method further includes: Obtain the original system model of the excavator; and Based on the original system model and the obstacle function, the constrained system model is obtained; wherein, the obstacle function represents a constraint function that limits the changes of state variables in the original system model.

4. The excavator control method according to claim 1, characterized in that, After constructing the finite-time control model, the excavator control method further includes: The constrained system model is analyzed based on the finite-time control model to output analysis results; wherein the analysis results characterize the angle convergence of the multiple active joints within the preset time range.

5. The excavator control method according to any one of claims 1 to 4, characterized in that, The step of running the finite-time control model and the constrained system model of the excavator based on the desired angle, the actual angle, and the actual angular velocity, and controlling multiple movable joints to adjust from their respective actual angles to their respective desired angles within a preset time range includes: Based on the desired angle, the actual angle, and the actual angular velocity, run the finite-time control model and the constrained system model of the excavator, and output a control strategy; and According to the control strategy, the movement of multiple movable joints is controlled so that the multiple movable joints adjust from their respective actual angles to their respective desired angles within a preset time range.

6. An excavator control device, characterized in that, include: The first acquisition module is configured to acquire the desired position of the bucket end of the excavator; The first calculation module is configured to obtain the desired angles of each of the multiple movable joints of the excavator based on the desired position. The second acquisition module is configured to acquire the actual angle and actual angular velocity of each of the multiple active joints; The construction module is configured to construct a finite-time control model based on a high-order sliding mode control system based on the actual angular velocity and the actual angle. The first control module is configured to run the finite-time control model and the constraint system model of the excavator according to the desired angle, the actual angle and the actual angular velocity, and control multiple movable joints to adjust from their respective actual angles to their respective desired angles within a preset time range.

7. An excavator, characterized in that, include: Organism; The excavator control device as described in claim 6 is disposed on the machine body.

8. An excavator, characterized in that, include: Organism; An electronic device is disposed on the machine body, the electronic device being configured to perform the excavator control method as described in any one of claims 1 to 5.

9. A storage medium storing a computer program, characterized in that, The computer program is configured to execute the excavator control method as described in any one of claims 1 to 5.

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