• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (5): 166-174.doi: 10.3901/JME.2019.05.166

• 数字化设计与制造 • 上一篇    下一篇

挖掘机的最优时间轨迹规划

孙志毅, 张韵悦, 李虹, 孙前来, 王银   

  1. 太原科技大学电子信息工程学院 太原 030024
  • 收稿日期:2018-07-06 修回日期:2018-12-28 出版日期:2019-03-05 发布日期:2019-03-05
  • 通讯作者: 张韵悦(通信作者),女,1991年出生,硕士研究生。主要研究方向为设备智能化技术及应用。E-mail:2284061147@qq.com
  • 作者简介:孙志毅,男,1959年出生,博士,教授,博士研究生导师。主要研究方向为设备智能化技术及应用。E-mail:zys8128@163.com;李虹,女,1965年出生,博士,教授,硕士研究生导师。主要研究方向为设备智能化技术及应用。E-mail:495061812@qq.com;孙前来,男,1976年出生,博士,副教授。主要研究方向为设备智能化技术及应用。E-mail:sql_sun@tyust.edu.cn;王银,男,1982年出生,博士,副教授,硕士研究生导师。主要研究方向为设备智能化技术及应用。E-mail:xpw417@163.com
  • 基金资助:
    山西省青年科技基金(2015021089)和山西省重点研发计划(201703D121028—1)资助项目。

Time Optimal Trajectory Planning of Excavator

SUN Zhiyi, ZHANG Yunyue, LI Hong, SUN Qianlai, WANG Yin   

  1. School of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan 030024
  • Received:2018-07-06 Revised:2018-12-28 Online:2019-03-05 Published:2019-03-05

摘要: 利用分段的多项式插值方法对挖掘机自主作业时的运动轨迹进行规划,存在优化轨迹不平滑或各关节存在不必要的往复运动等问题,导致挖掘机各关节受到较大冲击,影响挖掘机的使用寿命。针对挖掘轨迹规划存在的问题,提出了基于4-3-3-3-4多项式的关节角度分段插值策略以实现挖掘机最优时间轨迹规划。该策略利用4-3-3-3-4多项式,以角速度和角加速度为约束条件,采用差分进化算法求取插值时间的最优值,得到了各关节最优角度曲线,实现了挖掘机最优时间轨迹规划。对基于4-3-3-3-4多项式分段插值策略进行仿真试验,并在相同条件下与其他多项式插值策略进行了对比。试验结果表明,该多项式插值策略得到的挖掘轨迹更加平滑,各关节能够以较小的角速度和角加速度的变化到达目标点,避免了各关节在运行过程中产生较大冲击,同时节省了工作时间,使得挖掘机自主作业更加平稳高效。

关键词: 差分算法, 多项式插值, 轨迹规划, 挖掘机

Abstract: Using piece-wise polynomial interpolation method to plan the trajectory of the excavator's autonomous operation, there were some problems(the optimization trajectory is not smooth or the joints have unnecessary reciprocating movement)which leads to the large impact of the excavator joints and affects the service life of the excavator. In order to solve the problem of mining trajectory planning, the joint angle piece-wise interpolation strategy based on 4-3-3-3-4 polynomial is proposed to realize the optimal time trajectory planning of the excavator. Using the 4-3-3-3-4 polynomial, with angular velocity and angular acceleration as constraint conditions, the optimal value of interpolation time is obtained by using the differential evolution algorithm (DE), the optimal angle curve of each joint is achieved, and the optimal time trajectory planning of the excavator is realized. The simulation experiment based on 4-3-3-3-4 polynomial piece-wise interpolation strategy is carried out and compared with other polynomial interpolation strategies under the same conditions. The experimental results show that the mining trajectory of the polynomial interpolation strategy is smoother and the joints can reach the target point with small angular velocity and angular acceleration. It avoided the large impact during the operation of the joints and saved the working time, which made the excavator operate more smoothly and efficiently.

Key words: differential evolution algorithm, excavator, polynomial interpolation, trajectory planning

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