A mine shovel arm angle intelligent monitoring and deviation correction control system and method

Abstract

The present application belongs to the technical field of mine roadway excavation operation equipment control, and relates to a mine power shovel arm angle intelligent monitoring and deviation correction control system and method. The present application constructs a three-joint deviation vector containing amplitude and direction, intelligently determines single-axis priority, multi-axis cooperation or coupling compensation mode according to amplitude comparison and direction consistency; constructs a coupling compensation matrix to quantize joint influence, establishes a deviation interval and reference speed mapping, generates a reference trajectory by combining vibration, temperature mechanical state factor correction and jerk constraint; and finally outputs a driving signal according to the mode call corresponding control law. The present application solves the problems of low efficiency, neglect of motion impact and mechanical coupling leading to steady-state error and poor positioning accuracy of the existing unified adjustment strategy. It realizes independent deviation correction of the main deviation and balanced deviation cooperation, eliminates start-stop speed mutation and mutual disturbance between joints, shortens the deviation correction response time, and effectively improves the trajectory control precision and system stability.

Description

Technical Field

[0001] This invention belongs to the field of control technology for mining roadway excavation equipment, and relates to an intelligent monitoring and correction control system and method for the angle of a mining electric shovel arm. Background Technology

[0002] Mining electric shovels are widely used in complex scenarios such as tunnel excavation, stope leveling, backfilling face preparation, drainage ditch cleaning, and emergency rescue. Their working device typically consists of a boom, stick, and bucket connected in series. In actual operation, due to deep mining, tunnel engineering, and confined space work underground, higher requirements are placed on the precision of boom posture control. Failure to correct deviations in time will reduce excavation efficiency and may even lead to mechanical overload or safety accidents.

[0003] Existing automatic control technologies mostly employ closed-loop regulation based on position feedback, but they still have the following shortcomings: First, existing technologies often use a uniform regulation logic for each joint. For example, when the error of individual joints is large, forcing all joints to move synchronously will cause the remaining joints to be in a low-speed waiting state or a frequent start-stop state, prolonging the correction time; while when the errors of each joint are balanced, there is a lack of an effective synchronization mechanism, which can easily lead to end-effector trajectory deformation and make it difficult to achieve accurate angle return.

[0004] Secondly, existing correction commands focus primarily on velocity and acceleration amplitude, neglecting the impact of the rate of change of motion on the mechanical structure. Sudden velocity changes during start-stop phases can easily trigger overshoot and oscillations in joint angle tracking, making it difficult for the actual angle to converge smoothly in a short time, and affecting the smoothness and positioning accuracy of the correction action.

[0005] Finally, there are complex mechanical relationships and couplings between the joints, and the movement of a single joint can cause force fluctuations and positional drifts in the remaining joints. Existing solutions often treat each joint as an independent adjustment object, resulting in steady-state errors in the trajectory and low correction accuracy. Summary of the Invention

[0006] In view of this, in order to solve the problems mentioned in the background technology, a smart monitoring and correction control system and method for the angle of the electric shovel arm in mining is proposed.

[0007] The first aspect of the present invention proposes an intelligent monitoring and correction control system for the boom angle of a mining electric shovel, comprising the following modules: a deviation calculation module: which calculates the current and target postures of the boom, stick, and bucket joints in real time, and constructs a three-joint deviation vector including the amplitude and direction of the angle deviation.

[0008] Mode decision module: Based on the magnitude comparison results of the three joint deviation vectors and the consistency of the deviation directions of each joint, the coordinated control mode is determined and a decision command containing active joint markers is generated. The coordinated control modes include single-axis priority mode, multi-axis cooperative mode and coupling compensation mode.

[0009] Trajectory planning module: Based on active joint markers, establish a mapping between the angular deviation amplitude and the deviation range of the reference speed, generate a reference speed curve, modify the reference speed curve by combining mechanical state factors, and generate reference trajectories for each joint by adding jerk constraints.

[0010] Motion control module: It calls the corresponding control law according to the coordinated control mode, tracks the reference trajectory of each joint, and outputs drive signals.

[0011] The second aspect of the present invention proposes an intelligent monitoring and correction control method for the boom angle of a mining electric shovel, comprising the following steps: S1, calculating the current posture and target posture of the three joints of the boom, stick, and bucket in real time, and constructing a three-joint deviation vector including the amplitude and direction of the angle deviation.

[0012] S2. Based on the magnitude comparison results of the three joint deviation vectors and the consistency of the deviation directions of each joint, determine the coordination control mode and generate a decision command containing active joint markers. The coordination control mode includes single-axis priority mode, multi-axis cooperative mode and coupling compensation mode.

[0013] S3. Based on the active joint markers, establish the deviation interval mapping between the angle deviation amplitude and the reference speed, generate the reference speed curve, modify the reference speed curve in combination with the mechanical state factor, and generate the reference trajectory of each joint by adding jerk constraints.

[0014] S4. Call the corresponding control law according to the coordinated control mode, track the reference trajectory of each joint and output the drive signal.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention constructs a three-joint deviation vector and analyzes its amplitude and direction characteristics to adaptively decide on single-axis priority, multi-axis coordination, or coupling compensation modes. This method overcomes the shortcomings of the existing unified adjustment strategy, which is inefficient when there is a large local deviation and lacks synchronization when balancing deviation. It realizes independent correction of the dominant deviation joint and multi-joint coordinated approach under balanced deviation, shortens the system correction response time, eliminates the action conflict between joints, and improves the working efficiency and trajectory control accuracy under complex working conditions.

[0016] (2) This invention introduces mechanical state factors such as vibration and load to correct the reference speed, so that the speed command is adaptively matched with the actual mechanical working conditions, solving the problem that the command demand exceeds the actual load capacity of the motor; at the same time, by applying jerk constraints to the trajectory planning process, the sudden speed change at the moment of start and stop is eliminated, and the overshoot and oscillation phenomenon of angle tracking are suppressed. The two work together to solve the problems of unstable correction action and poor positioning accuracy of large inertial systems.

[0017] (3) This invention constructs an inter-joint coupling compensation matrix and calculates the feedforward compensation amount, which is then superimposed on the feedback control output. This method solves the problem of steady-state error caused by treating each joint as an independent adjustment object and ignoring mechanical coupling in the prior art. By actively canceling the mutual disturbances when multiple joints are linked through the feedforward mechanism, the position drift caused by the movement of a single joint is eliminated, and the system decoupling capability, correction accuracy and overall control stability under complex mechanical coupling environment are improved. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram showing the connection of each module of the intelligent monitoring and correction control system for the angle of a mining electric shovel arm in this invention;

[0020] Figure 2 This is a flowchart of the pattern determination and instruction generation process in this invention;

[0021] Figure 3 This is a flowchart of an intelligent monitoring and correction control method for the angle of a mining electric shovel arm according to the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0024] The following description, in conjunction with the accompanying drawings, details the specific scheme of the intelligent monitoring and correction control system and method for the angle of a mining electric shovel arm provided by the present invention.

[0025] Example 1

[0026] Please see Figure 1 As shown, the present invention provides an intelligent monitoring and correction control system for the angle of a mining electric shovel arm, comprising: a deviation calculation module, a mode decision module, a trajectory planning module, and a motion control module. The connection relationships between the modules are as follows: the deviation calculation module and the mode decision module are connected, the mode decision module and the trajectory planning module are connected, and the trajectory planning module and the motion control module are connected.

[0027] To address the issues that in heavy excavation operations of electric shovels in mines, the boom, stick, and bucket joints are prone to oscillation, overshoot, or response lag during the correction process due to strong inertial coupling and sudden load changes, and that traditional single control strategies are difficult to balance the need for large local deviation correction and multi-joint coordinated motion, a mode decision-making and adaptive trajectory planning mechanism based on deviation vector analysis is proposed.

[0028] First, this invention constructs a deviation vector by calculating the amplitude and direction of the three-joint angle deviation, thus solving the problem that relying solely on single-angle difference control cannot accurately characterize the spatial attitude coupling relationship of multiple joints. Then, based on the deviation amplitude difference and direction consistency criterion, it dynamically selects single-axis priority, multi-axis coordination, or coupling compensation modes, solving the problem that fixed control modes cannot adapt to uneven deviation distribution and changes in collaborative operation scenarios. Finally, by introducing mechanical state factors such as vibration and temperature to correct the velocity curve and applying jerk constraints, it solves the problem of large start-stop impacts and easy damage to mechanical structures in traditional position closed-loop control, thereby forming an intelligent deviation correction control from multi-dimensional perception and mode adaptive decision-making to smooth trajectory execution.

[0029] Deviation calculation module: calculates the current and target attitudes of the boom, stick, and bucket joints in real time, and constructs a three-joint deviation vector that includes the magnitude and direction of the angular deviation.

[0030] Because mining electric shovels are subject to random impacts from ore resistance during excavation, the boom, stick, and bucket joints will simultaneously experience angular deviations of varying amplitudes and directions. These three joints, through a series kinematic relationship, jointly determine the accuracy of the end-point trajectory. If the control system only acquires the scalar value of the angular deviation of a single joint, the lack of positive and negative sign information will lead to ambiguity in the direction determination of the drive motor. Furthermore, it will be impossible to identify the dominant deviation source by comparing the lateral deviation amplitudes of each joint, resulting in a lack of specificity in the correction control strategy and a tendency to cause multi-joint motion conflicts or correction lag.

[0031] To address the aforementioned issues, this module constructs a three-joint deviation vector in the following manner: In one specific embodiment, to meet the high-frequency dynamic characteristics requirements of joint movement during the operation of a mining electric shovel and to overcome the interference of mechanical vibration and electromagnetic noise on sensor signals, it is necessary to ensure the real-time performance and accuracy of angle data.

[0032] Specifically, angle sensor data installed at the connection points of the boom, stick, and bucket are collected at a sampling frequency of no less than 200Hz. The collected raw signals are then processed by hardware low-pass filtering and moving average filtering to eliminate high-frequency noise and random disturbances, thus obtaining real-time angle data.

[0033] Based on this, since the physical quantity directly measured by the sensor is the relative rotation angle at the joint hinge point, while the attitude information required for control needs to be converted based on the geometric relationship of the mechanical structure, the real-time angle data is mapped to the current attitude of the boom, stick, and bucket in a unified coordinate system by combining the kinematic model.

[0034] Furthermore, the ultimate goal of the correction control is to move each joint from its current posture to the target posture specified by the task. The absolute value of the deviation determines the urgency of the movement, while the direction of the deviation determines the direction of the actuator's movement. Therefore, after receiving the target posture set by the task, the difference between the current posture and the target posture is calculated to obtain the angular deviation of the three joints. The absolute value of the angular difference is then taken as the angular deviation amplitude to characterize the magnitude of the deviation, and the sign of the angular difference is extracted as the deviation direction to characterize the movement trend.

[0035] Finally, the angular deviation magnitude and deviation direction of the three joints are combined to construct a three-joint deviation vector, which serves as the input for subsequent mode decision-making and trajectory planning.

[0036] Mode decision module: Based on the magnitude comparison results of the three joint deviation vectors and the consistency of the deviation directions of each joint, the coordinated control mode is determined and a decision command containing active joint markers is generated. The coordinated control modes include single-axis priority mode, multi-axis cooperative mode and coupling compensation mode.

[0037] Considering that the deviation distribution of each joint of an electric shovel varies at different operating stages or under different disturbances—for example, unilateral obstruction may lead to a large deviation in one joint while other joints have smaller deviations; or during normal digging, the deviations of the three joints in coordinated movement are relatively balanced—if a uniform control strategy is used for all joints, it may result in delayed response from joints with large deviations or overshoot oscillations from joints with small deviations, or even cause system instability.

[0038] Therefore, please refer to Figure 2As shown, this module realizes mode determination and instruction generation through the following steps: In a specific embodiment, the angular deviation magnitude and direction information of each joint are extracted from the three-joint deviation vector as input for mode determination.

[0039] S101, Single-axis priority mode determination: Determine if the angular deviation amplitude of any joint is greater than the sum of the angular deviation amplitudes of the other two joints. If so, it is determined to be single-axis priority mode. In this case, the deviation of that joint is dominant. If all joints are driven simultaneously, control resources will be dispersed and the response speed of the dominant joint will be reduced. Therefore, this joint is set as the active joint to centrally output control quantity, and the other joints are set as locked joints to maintain their current positions.

[0040] The locking joint refers to the joint whose drive motor is in a zero-speed holding state, allowing it to passively follow under external force, but without actively applying drive commands.

[0041] S102. Multi-axis cooperative mode determination: If the single-axis priority condition is not met, the ratio of the maximum angle deviation amplitude to the minimum angle deviation amplitude among the three joints is calculated. When the ratio is within a preset ratio range, such as the [1.0, 2.5] interval determined by simulation experiments, and the deviation directions of each joint are consistent, it is determined to be a multi-axis cooperative mode.

[0042] This indicates that the deviation magnitudes of the joints are similar and their motion trends are consistent, with no mutual constraints. In this case, adopting a multi-axis collaborative mode can enable the joints to approach the target synchronously, maximizing the system response speed and work efficiency, while avoiding motion incoordination caused by speed mismatch between joints.

[0043] S103. Coupling Compensation Mode Determination: For other situations that do not meet the above two criteria, they are uniformly determined to be in coupling compensation mode. Such situations usually manifest as a situation where, although the deviation of a certain joint does not dominate, it is not evenly distributed with the deviations of other joints, or there is a conflict between the directions of the deviations of each joint. If they need to move in opposite directions at the same time, there is a strong dynamic coupling effect between the joints. Coupling compensation needs to be introduced to suppress mutual disturbances and ensure control stability.

[0044] S104. Decision Instruction Generation: Based on the above mode determination results, generate the corresponding decision instruction: Single-axis priority mode: Mark the joint with the largest angular deviation amplitude as the active joint, and the remaining joints as locked joints. This instruction clarifies the concentrated direction of control resources, and the locked joints will perform position holding control to avoid interference.

[0045] Multi-axis cooperative mode: All joints are marked as active joints, and the ratio of the angular deviation amplitude of each joint is calculated as a velocity proportionality coefficient. This coefficient is used to allocate the motion velocity of each joint in subsequent trajectory planning to ensure cooperative motion.

[0046] Coupled compensation mode: All joints are labeled as active joints, and a coupling compensation matrix between joints is constructed. This matrix is ​​used to quantify the mutual influence between joints, providing a basis for the subsequent motion control module to generate feedforward compensation values.

[0047] The specific method for constructing the coupling compensation matrix is ​​as follows: Since the boom, stick, and bucket of the electric shovel are connected by a series structure, the movement of any joint will have a coupling effect on other joints through structural stiffness transmission, and the coupling strength is closely related to the structural stiffness parameters of the joint itself and the current deviation amplitude. The specific construction process includes: extracting the angular deviation amplitude of the boom, stick, and bucket joints, and reading the preset structural stiffness parameters, which can be obtained through finite element analysis and characterize the dimensionless coefficients that the joints resist deformation.

[0048] Construct a three-row, three-column matrix structure, where the first row and first column correspond to the boom, the second row and second column correspond to the stick, and the third row and third column correspond to the bucket, thus establishing a mapping relationship between the joints and the matrix rows and columns.

[0049] Set the elements on the diagonal of the matrix to a unit value of 1, because the joint's own motion compensation is mainly based on its own deviation and does not require additional scaling.

[0050] Calculate the value of the off-diagonal element. This value is obtained by multiplying the structural stiffness parameter by the angular deviation amplitude of the joint corresponding to the row where the element is located, and then dividing by the sum of the angular deviation amplitude of the joint corresponding to the column where the element is located and a preset non-zero constant.

[0051] The degree of coupling between row joints and column joints is directly proportional to the structural stiffness of the row joint and its current deviation amplitude, and inversely proportional to the deviation amplitude of the column joint. The larger the deviation of a joint, the stronger its coupling influence on other joints. The larger its own deviation, the more easily it is affected by other joints. At the same time, a preset non-zero constant, such as 1.0°, is used to prevent the denominator from being zero.

[0052] The calculated off-diagonal element values ​​are filled into the corresponding positions in the matrix to generate the joint coupling compensation matrix and write it into the decision instruction.

[0053] Trajectory planning module: Based on active joint markers, establish a mapping between the angular deviation amplitude and the deviation range of the reference speed, generate a reference speed curve, modify the reference speed curve by combining mechanical state factors, and generate reference trajectories for each joint by adding jerk constraints.

[0054] Considering the large rotational inertia of mining electric shovels, directly giving step or ramp speed commands will cause sudden acceleration changes at start and stop times, resulting in the transmission system being subjected to large inertial impacts, affecting equipment lifespan and positioning accuracy.

[0055] Meanwhile, load fluctuations change the joint resistance torque, vibration affects the system stability margin, and oil temperature changes change the hydraulic transmission efficiency. These mechanical state factors limit the current response speed of the system. If these factors are ignored and the constant speed and acceleration parameters under ideal working conditions are still used for planning, the command demand will exceed the actual load capacity of the motor, causing motor overload or trajectory tracking deviation.

[0056] Therefore, this module generates the reference velocity curve and reference trajectory in the following way: In one specific embodiment, the active joint and the locking joint are identified according to the decision command, and the angular deviation amplitude of the active joint is extracted.

[0057] Since the large inertia robotic arm of the electric shovel requires a long braking distance when moving at high speed, using equal intervals often leads to deceleration lag or reduced efficiency. Therefore, the angular deviation amplitude is divided into multiple non-equal intervals, and a corresponding speed gain coefficient is configured for each interval.

[0058] As a preferred embodiment, the deviation is divided into three typical ranges: when the angular deviation amplitude is greater than 15°, it is determined that the robotic arm is far from the target, and the speed gain coefficient is set to 1.0, that is, the reference speed is equal to the maximum allowable speed, which aims to use the full power of the motor to quickly eliminate the main error; when the angular deviation amplitude is between 5° and 15°, it is determined that the robotic arm has entered the deceleration buffer zone, and the speed gain coefficient is set to 0.6, which limits the reference speed to 60% of the maximum allowable speed, which aims to reduce the system kinetic energy in advance and prevent subsequent overshoot due to excessive inertia.

[0059] When the angular deviation amplitude is less than 5°, the robotic arm is determined to be in the positioning fine-tuning zone. The speed gain coefficient is set to 0.2, limiting the reference speed to 20% of the maximum permissible speed. This allows for a slow and stable approach to the target, eliminating residual errors and ensuring positioning accuracy. The speed gain coefficient is defined as the ratio of the reference speed to the maximum permissible speed, and is used to proportionally adjust the motor's output speed.

[0060] Determine the deviation range to which the current angular deviation amplitude belongs, select the corresponding speed gain coefficient, and multiply the speed gain coefficient by the maximum permissible speed to obtain the reference speed of the joint. Simultaneously, set the reference speed of the joints marked as locked to zero to prevent them from mechanically interfering with the correction process of the active joints. Combine the reference speeds of each joint in a time series to generate a reference speed curve.

[0061] Secondly, to overcome the impact of environmental parameter variations on control stability under harsh operating conditions, a mechanical state factor is introduced to adaptively correct the reference velocity curve. Specifically, vibration sensors, temperature sensors, and pressure sensors installed on the mechanical structure collect data in real time, and obtain vibration acceleration, hydraulic system temperature, and load change rate as components of the mechanical state factor, respectively.

[0062] The weighting coefficients are determined based on the mechanical state factors. The weighting coefficients are multiplied together to obtain the comprehensive weighting coefficient. The base speed curve is multiplied by the comprehensive weighting coefficient to obtain the corrected speed curve.

[0063] In a preferred embodiment, vibration acceleration, hydraulic system temperature, and load change rate are mapped to weighting coefficients within the range of [0.5, 1.0]. When the vibration acceleration is less than 0.5g, the vibration weighting coefficient is 1.0; when it is between 0.5g and 2.0g, it is reduced from 1.0 to 0.5 by linear interpolation; when the vibration acceleration is greater than 2.0g, the vibration weighting coefficient remains at 0.5.

[0064] When the hydraulic system temperature exceeds 80℃, the temperature weighting coefficient is set to 0.8; otherwise, it is set to 1.0. When the load change rate exceeds 20% of the rated load, the load weighting coefficient is set to 0.7; otherwise, it is set to 1.0. Multiplying the above weighting coefficients yields the comprehensive weighting coefficient, which is then multiplied by the baseline speed curve to obtain the corrected speed curve.

[0065] Finally, to eliminate the mechanical shock caused by sudden speed changes, jerk constraints are applied to the corrected speed curve: the rate of change of acceleration of the corrected speed curve at each time point, i.e., the jerk, is calculated, and an allowable limit for the jerk is set. Specifically, the allowable limit for the jerk is determined based on the ratio of the maximum allowable torque fluctuation of the transmission system to the equivalent moment of inertia.

[0066] When the rate of change of acceleration exceeds the allowable limit of acceleration, the velocity value at the corresponding time point is smoothly adjusted by the interpolation algorithm, and the adjusted rate of change of acceleration is iteratively detected until the rate of change of acceleration at all time points is within the allowable limit, or the preset maximum number of iterations, such as 3 to 5, is reached, to generate reference trajectories for each joint with continuous velocity, continuous acceleration, and a rate of change of acceleration within the allowable limit of acceleration.

[0067] Motion control module: It calls the corresponding control law according to the coordinated control mode, tracks the reference trajectory of each joint, and outputs drive signals.

[0068] Considering that the single-axis priority mode prioritizes rapid response, the multi-axis cooperative mode emphasizes motion consistency, and the coupling compensation mode needs to address multi-variable coupling disturbances, a single control algorithm cannot simultaneously meet these differentiated control objectives. Therefore, PID control, synchronous control, and feedforward compensation control algorithms are applied to each of the three modes respectively.

[0069] In one specific embodiment, when in single-axis priority mode, a PID control algorithm is used to calculate the control quantity of the active joint to track the reference trajectory, and a position locking control signal is output to the locking joint, that is, to keep the given position of the joint unchanged and enable high-gain position closed loop or hydraulic braking to force it to remain stationary in order to eliminate mechanical interference to the active joint.

[0070] When in multi-axis cooperative mode, the cooperative speed command of each active joint is allocated according to the speed ratio coefficient. The synchronous control algorithm, such as cross-coupling control, is used to output the drive signal. Specifically, the synchronization error of each joint relative to the average position is calculated in real time. The error compensation is multiplied by the speed ratio coefficient corresponding to each joint and then superimposed on the speed command of each joint to realize the dynamic adjustment of the actual rotation speed of each joint, ensuring that the three joints strictly approach the target in proportional synchronization.

[0071] When in coupling compensation mode, the product of the joint coupling compensation matrix and the three-joint deviation vector is used as the feedforward compensation amount, which is superimposed on the calculation result of the PID control algorithm. The feedforward compensation is used to eliminate the coupling error caused by the feedback control lag, and the final drive signal is generated and output to the actuator.

[0072] Example 2

[0073] Please see Figure 3 As shown, this invention proposes an intelligent monitoring and correction control method for the boom angle of a mining electric shovel, which includes the following steps: S1, calculating the current posture and target posture of the three joints of the boom, stick, and bucket in real time, and constructing a three-joint deviation vector that includes the amplitude and direction of the angle deviation.

[0074] S2. Based on the magnitude comparison results of the three joint deviation vectors and the consistency of the deviation directions of each joint, determine the coordination control mode and generate a decision command containing active joint markers. The coordination control mode includes single-axis priority mode, multi-axis cooperative mode and coupling compensation mode.

[0075] S3. Based on the active joint markers, establish the deviation interval mapping between the angle deviation amplitude and the reference speed, generate the reference speed curve, modify the reference speed curve in combination with the mechanical state factor, and generate the reference trajectory of each joint by adding jerk constraints.

[0076] S4. Call the corresponding control law according to the coordinated control mode, track the reference trajectory of each joint and output the drive signal.

[0077] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0078] Those skilled in the art will recognize that the algorithmic steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0079] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0080] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0081] Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart monitoring and correction control system for the boom angle of a mining electric shovel, characterized in that, include: Deviation calculation module: calculates the current and target attitudes of the boom, stick, and bucket joints in real time, and constructs a three-joint deviation vector that includes the magnitude and direction of the angle deviation. The mode decision module determines the coordinated control mode based on the magnitude comparison of the three joint deviation vectors and the consistency of the deviation directions of each joint, and generates a decision command containing active joint markers. The coordinated control mode includes single-axis priority mode, multi-axis cooperative mode, and coupling compensation mode. The magnitude comparison is a comparison of the magnitudes of the angle deviations of each joint, including a comparison of the angle deviation magnitude of a single joint with the sum of the angle deviation magnitudes of the other two joints, and a comparison of the maximum angle deviation magnitude with the minimum angle deviation magnitude among the three joints. The consistency of the deviation direction of each joint, that is, the angular deviation directions of the boom, stick and bucket joints are all positive or all negative; The trajectory planning module establishes a mapping between the angular deviation amplitude and the reference velocity deviation range based on active joint markers, generates a reference velocity curve, corrects the reference velocity curve by combining mechanical state factors, and generates reference trajectories for each joint by applying jerk constraints. Mechanical state factors include vibration acceleration, hydraulic system temperature, and load change rate; Motion control module: It calls the corresponding control law according to the coordinated control mode, tracks the reference trajectory of each joint, and outputs drive signals; The single-axis priority mode corresponds to PID control and position locking control, the multi-axis cooperative mode corresponds to synchronous control, and the coupling compensation mode corresponds to feedforward compensation superimposed PID control.

2. The intelligent monitoring and correction control system for the boom angle of a mining electric shovel as described in claim 1, characterized in that, The specific contents of the deviation calculation module are as follows: Real-time angle data is collected by angle sensors installed at the connection points of the boom, stick, and bucket, and the current posture of the three joints is calculated by combining the kinematic model. Receive the target posture set by the task, calculate the difference between the current posture and the target posture to obtain the angle deviation of the three joints; The absolute value of the angle difference is taken as the angle deviation amplitude, and the deviation direction is determined according to the sign of the angle difference. The angle deviation amplitude and deviation direction of the three joints are combined to construct the three joint deviation vector.

3. The intelligent monitoring and correction control system for the boom angle of a mining electric shovel as described in claim 1, characterized in that, The specific method for determining the coordinated control mode is as follows: Extract the angular deviation magnitude and direction information of each joint based on the three-joint deviation vector; Determine if the angular deviation amplitude of any joint is greater than the sum of the angular deviation amplitudes of the other two joints. If so, determine that it is a single-axis priority mode. If not, calculate the ratio of the maximum angular deviation amplitude to the minimum angular deviation amplitude among the three joints. When the ratio is within the preset range and the deviation directions of each joint are consistent, it is determined to be a multi-axis cooperative mode. The remaining cases are classified as coupling compensation mode.

4. The intelligent monitoring and correction control system for the boom angle of a mining electric shovel as described in claim 1, characterized in that, The decision instructions include: In single-axis priority mode, the joint with the largest angular deviation is marked as the active joint, and the remaining joints are locked joints; In the multi-axis cooperative mode, all joints are marked as active joints, and the ratio of the angular deviation amplitude of each joint is calculated as the velocity proportionality coefficient. In the coupling compensation mode, all joints are marked as active joints, and a coupling compensation matrix between joints is constructed, and decision instructions are generated.

5. The intelligent monitoring and correction control system for the boom angle of a mining electric shovel as described in claim 4, characterized in that, The construction of the coupling compensation matrix between joints is specifically as follows: Extract the angular deviation amplitude of the three joints of boom, stick, and bucket, and read the preset structural stiffness parameters; Construct a matrix structure with three rows and three columns. The first row and first column correspond to the boom, the second row and second column correspond to the stick, and the third row and third column correspond to the bucket. Set the elements on the diagonal of the matrix to unit values; The values ​​of off-diagonal elements are calculated by multiplying the structural stiffness parameter by the angular deviation amplitude of the joint corresponding to the row in which the element is located, and then dividing by the sum of the angular deviation amplitude of the joint corresponding to the column in which the element is located and a preset non-zero constant. The calculated off-diagonal element values ​​are filled into the corresponding positions in the matrix to generate the coupling compensation matrix between joints and write it into the decision instruction.

6. The intelligent monitoring and correction control system for the boom angle of a mining electric shovel as described in claim 1, characterized in that, The method for generating the reference velocity curve is as follows: Identify active and locked joints based on decision instructions, and extract the angular deviation amplitude of the active joints; The angular deviation amplitude is divided into multiple deviation intervals, and a corresponding speed gain coefficient is configured for each deviation interval. Determine the deviation range to which the current angle deviation amplitude belongs, select the corresponding speed gain coefficient, and multiply the speed gain coefficient by the maximum allowable speed to obtain the reference speed of the joint; The reference velocity for the locked joint will be set to zero; The reference velocities of each joint are combined in a time series to generate a reference velocity curve.

7. The intelligent monitoring and correction control system for the boom angle of a mining electric shovel as described in claim 1, characterized in that, The method for generating the reference trajectories of each joint is as follows: Collect mechanical state factors and determine their corresponding weight coefficients. Multiply the weight coefficients to obtain the comprehensive weight coefficient. Multiply the baseline speed curve by the comprehensive weight coefficient to obtain the corrected speed curve. Calculate the rate of change of acceleration of the corrected velocity curve at each time point, and set the allowable limit of acceleration; When the rate of change of acceleration exceeds the allowable limit of acceleration, the velocity value at the corresponding time point is smoothly adjusted by an interpolation algorithm, and the adjusted rate of change of acceleration is iteratively detected to generate reference trajectories for each joint that are continuous in velocity and acceleration and whose rate of change of acceleration is within the allowable limit of acceleration.

8. The intelligent monitoring and correction control system for the boom angle of a mining electric shovel as described in claim 7, characterized in that, The mechanical state factor includes multiple components, and the method for acquiring each component is as follows: Data from vibration sensors, temperature sensors, and pressure sensors installed on the mechanical structure are read to obtain vibration acceleration, hydraulic system temperature, and load change rate as components of the mechanical state factor.

9. The intelligent monitoring and correction control system for the boom angle of a mining electric shovel as described in claim 4, characterized in that, The specific contents of the motion control module are as follows: When in single-axis priority mode, the PID control algorithm is used to calculate the control quantity of the active joint to track the reference trajectory, and the position locking control signal is output to the locked joint. When in multi-axis cooperative mode, the cooperative speed command of each active joint is allocated according to the speed ratio coefficient, and the drive signal is output by using a synchronous control algorithm; When in coupling compensation mode, the product of the inter-joint coupling compensation matrix and the three-joint deviation vector is used as the feedforward compensation amount, which is superimposed on the calculation result of the PID control algorithm to generate the final drive signal output to the actuator.

10. A method for intelligent monitoring and correction control of the boom angle of a mining electric shovel, comprising the intelligent monitoring and correction control system for the boom angle of a mining electric shovel as described in any one of claims 1-9, characterized in that, Corrective control methods include: S1. Calculate the current and target attitudes of the boom, stick, and bucket joints in real time, and construct a three-joint deviation vector that includes the amplitude and direction of the angle deviation. S2. Based on the magnitude comparison results of the three joint deviation vectors and the consistency of the deviation directions of each joint, determine the coordination control mode and generate a decision command containing active joint markers. The coordination control mode includes single-axis priority mode, multi-axis cooperative mode and coupling compensation mode. S3. Based on the active joint markers, establish the deviation interval mapping between the angle deviation amplitude and the reference speed, generate the reference speed curve, modify the reference speed curve in combination with the mechanical state factor, and generate the reference trajectory of each joint through jerk constraints. S4. Call the corresponding control law according to the coordinated control mode, track the reference trajectory of each joint and output the drive signal.

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