Digging Soil Experiments for Micro Hydraulic Excavators based on Model Predictive Tracking Control
Digging Soil Experiments for Micro Hydraulic Excavators based on Model Predictive Tracking Control
复制标题
基于模型预测跟踪控制的微型液压挖掘机挖土试验
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Katsumasa Suzuki
中科院分区：
文献类型：
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作者：
Takumi Tomatsu;K. Nonaka;K. Sekiguchi;Katsumasa Suzuki
近年来，液压挖掘机工作中存在着操作人员负担加重、熟练操作人员缺乏等问题。这些问题有望通过自主控制得到改善。在本文中，我们提出了实验结果的液压挖掘机使用模型预测控制（MPC），其中包括伺服机构。MPC通过预测未来状态并满足约束条件计算最优控制输入来优化挖掘作业。然而，当液压挖掘机进行挖掘时，MPC难以科普来自土壤的反作用力。伺服机构采用误差积分的方法来抑制恒定扰动的影响。然而，由于扰动的突然变化，叶尖偏离了指定的形状。我们可以预期，通过结合MPC和伺服机构的跟踪性能得到改善。使用最优控制输入执行铲斗尖的路径跟踪控制。将该方法应用于小松公司生产的微型液压挖掘机PC01上进行了实验。通过伺服机构和纯MPC与所提方法的挖掘实验，验证了所提方法的有效性。
Recently, the increase of burden to operators and lack of skilled operators are the issue in the work of the hydraulic excavator. These problems are expected to be improved by autonomous control. In this paper, we present experimental results of hydraulic excavators using model predictive control (MPC) which incorporates servo mechanism. MPC optimizes digging operations by the optimal control input which is calculated by predicting the future states and satisfying the constraints. However, it is difficult for MPC to cope with the reaction force from soil when a hydraulic excavator performs excavation. Servo mechanism suppresses the influence of the constant disturbance using the error integration. However, the bucket tip deviates from a specified shape by the sudden change of the disturbance. We can expect that the tracking performance is improved by combining MPC and servo mechanism. Path-tracking controls of the bucket tip are performed using the optimal control input. We apply the proposed method to the Komatsu- made micro hydraulic excavator PC01 by experiments. We show the effectiveness of the proposed method through the experiment of digging soil by comparing servo mechanism and pure MPC with the proposed method.