Udwadia-Kalaba theory for the control of bulldozer link lever
Udwadia-Kalaba theory for the control of bulldozer link lever
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DOI：
10.1177/1687814018779728
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发表时间：
2018-06-27
影响因子：
2.1
通讯作者：
Shao, Ke
中科院分区：
文献类型：
--
作者：
Li, Chenming;Zhao, Han;Shao, Ke
提出将Udwadia-Kalaba理论应用于推土机动力学分析。该方法将推土机系统划分为多个子系统，简化了多连杆机构的建模过程。在此基础上，将约束分为结构约束和性能约束。利用结构约束建立动力学模型，不考虑轨迹。性能约束是期望的轨迹。然后，根据拉格朗日法建立的无约束系统的运动方程和系统约束（包括结构约束和性能约束），通过求解Udwadia-Kalaba方程，得到控制力的显式、封闭形式的解析表达式。我们证明了这种方法不需要求解拉格朗日乘子，这是很难获得的。然而，对于推土机连杆系统，初始条件在实际情况下很难满足约束条件。因此，考虑了初始条件偏差的问题。最后，通过数值仿真验证了推土机的运动轨迹满足设计要求，并能方便地实时获取推土机的受力情况。
We propose to apply Udwadia-Kalaba theory to the bulldozer dynamics analysis. The bulldozer system is divided into several subsystems by this approach, which simplifies the modeling process for multi-link mechanism. Based on this approach, the constraints are classified into structure constraints and performance constraints. Structure constraints are used to set up dynamic model without regard for trajectory. Performance constraints are the desired trajectory. Then, according to the equation of motion of the unconstrained system established by Lagrange approach and system constraints which include structure and performance constraints, an explicit, closed-form analytical expression for the control force can be obtained by solving Udwadia-Kalaba equation. We demonstrate that this approach does not need to solve Lagrange multiplier, which is always difficult to obtain. However, for bulldozer link lever system, the initial conditions are difficult to satisfy the constraints in the actual situation. Thus, the problem of initial condition deviation is taken into consideration. In the end, the numerical simulations are done to prove that the trajectory of the bulldozer satisfies the designed one and the real-time forces are conveniently acquired.