基于非对称多段S型曲线的矿用电铲轨迹优化

doi:10.3901/JME.2025.05.263

摘要/Abstract

摘要： 作为露天煤矿开采的关键装备，矿用电铲机体结构复杂且庞大，其具有作业工况多变、作业惯性较大等特点。为了提高挖掘的稳定性和平滑性，降低挖掘能耗，提出了一种基于非对称多段S型曲线速度控制的大型矿用电铲轨迹规划方法。运用解析法推导出铲斗的运动学模型，为后期的轨迹优化提供模型基础。以矿用电铲的铲斗、推杆、提升绳为结构约束，以推压电机和提升电机的功率为性能约束，以最低挖掘能耗为优化目标，运用遗传算法(GA)优化速度曲线的各段控制时间得到最优决策变量，最后将优化所得的决策变量作为输入，代入目标函数进行实验验证。实验结果表明，得到的推杆和提升绳的速度输出没有突变，挖掘力的输出也较为平稳，挖掘轨迹连续且平滑，挖掘能耗均显著低于T型曲线和传统的对称S型曲线速度控制算法，证明了该方法的有效性和优越性。

关键词: 非对称, 多段S型曲线, 轨迹规划, 电铲

Abstract: As a key piece of equipment in open-pit mining, the cable shovel is large and structurally complex. It operates under varying working conditions and exhibits significant operational inertia. To enhance digging stability and smoothness, while reducing energy consumption, this paper proposes a trajectory planning method for cable shovels based on an asymmetric multi-segment S-curve velocity control. The kinematic model of the shovel dipper is derived analytically, providing a foundation for subsequent trajectory optimization. Structural constraints are set for the dipper, dipper handle, and rope, while performance constraints are set for the power of the crowd and hoist motors. The optimization goal is to minimize excavation energy consumption. Using a genetic algorithm (GA), the control times for each segment of the velocity curve are optimized, resulting in the optimal decision variables. The optimized variables are then input into the objective function for experimental validation. Results show that the velocity outputs of the dipper handle and rope exhibit no sudden changes, and the digging force output is stable. The digging trajectory is continuous and smooth. Energy consumption is significantly lower compared to T-curve and traditional symmetric S-curve control algorithms, demonstrating the effectiveness and superiority of the proposed method.

Key words: asymmetric, multi-segment s-curve, trajectory planning, cable shovel

中图分类号:

TH249

龙秀华, 胡正国, 付涛, 连楷研, 宋学官. 基于非对称多段S型曲线的矿用电铲轨迹优化[J]. 机械工程学报, 2025, 61(5): 263-274.

LONG Xiuhua, HU Zhengguo, FU Tao, LIAN Kaiyan, SONG Xueguan. Trajectory Optimization and Design for Cable Shovel Based on Asymmetric Multi-segment S-curve[J]. Journal of Mechanical Engineering, 2025, 61(5): 263-274.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.2025.05.263

http://www.cjmenet.com.cn/CN/Y2025/V61/I5/263

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