Dynamic Analysis and Model Predictive Control of Excavator’s Working Device

摘要

Abstract Aiming at the development requirements of automation and intelligence of traditional hydraulic excavator, the robot modeling theory is applied to the modeling process of it, and the general forward and inverse kinematics models of excavator working device including the hydraulic drive structure were given. Based on Lagrange equation, the dynamics model of excavator is established, and a trajectory tracking control method is proposed for this model. The tracking effect of model predictive control method on preset trajectory under different working conditions is studied by computer simulation technology. The research results show that the model predictive control can give a more accurate feedforward control force under complex working conditions, realize accurate tracking of the trajectory, and effectively reduce the control delay caused by large inertia working conditions, and has good robustness.