Kinematics modeling and control simulation for a logging harvester in virtual environments
Kinematics modeling and control simulation for a logging harvester in virtual environments
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DOI：
10.1177/1687814015611329
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发表时间：
2015-10
影响因子：
2.1
通讯作者：
Yili Zheng;T. Ge;Jinhao Liu
中科院分区：
文献类型：
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作者：
Yili Zheng;T. Ge;Jinhao Liu
建立了液压臂架的运动学模型，并进行了控制仿真。该液压臂用于伐木机上，这是一种典型的林业车辆。建立了液压臂的运动学方程，并推导了关节变量与液压缸变量之间的转换关系。提出了一种采伐头采伐树干的自主控制方法。该控制方案分为两个独立的闭环：内闭环实现对液压缸的控制，外闭环根据激光测量数据规划采伐头捕获树干的期望轨迹。开发了一个交互式实时动态仿真系统，并对所提出的控制方法进行了验证。
This article presents the kinematics model and control simulation of a hydraulic boom. This hydraulic boom is used on the logging harvester, which is a typical forestry vehicle. The kinematics equations of the hydraulic boom and the transformation between joint variables and hydraulic cylinder variables are obtained for the control purpose. An autonomous control method is suggested for the harvesting head to capture trunks. There are two separate closed loops in the control scheme: the inner closed loop realizes the control on the hydraulic cylinders, and the outer loop plans the desired trajectory of the harvesting head to capture trunks based on the laser measurement data. An interactive real-time dynamic simulation system is developed, and the proposed control method is verified.