| 基于模糊行为的液压挖掘机工作装置拟人操作的实现 |
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| 引用本文： | 杨克石,刘杰,李文维,徐尚勇.基于模糊行为的液压挖掘机工作装置拟人操作的实现[J].机床与液压,2011,39(21). |
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| 作者姓名： | 杨克石 刘杰 李文维 徐尚勇 |
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| 作者单位： | 东北大学机械工程与自动化学院,辽宁沈阳,110819 |
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| 基金项目： | 国家自然科学基金资助项目(50775029) |
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| 摘 要： | 为了实现挖掘机工作装置挖掘过程的拟人化操作,对小松PC02挖掘机工作装置原液压系统进行了电液化改造,使其能够接受电信号的控制;构建了xPC目标机实时控制平台。以模糊行为理论为基础,结合Stateflow(状态流)和FuzzyLogic(模糊逻辑)工具箱,提出基于Simulink的实验方案;并以石块挖掘行为作为典型的工况完成了实验验证。结果表明:应用模糊行为理论实现挖掘机挖掘过程的拟人化操作是可行的;xPC目标机实时控制平台工作可靠;将Stateflow/FuzzyLogic和Simulink结合在一起,编程直观,修改方便。
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| 关 键 词： | 挖掘机 拟人操作 行为控制 模糊逻辑 |
Anthropomorphic Manipulation of Excavation Processing Based on Fuzzy Behavior |
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| YANG Keshi,LIU Jie,LI Wenwei,XU Shangyong.Anthropomorphic Manipulation of Excavation Processing Based on Fuzzy Behavior[J].Machine Tool & Hydraulics,2011,39(21). |
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| Authors: | YANG Keshi LIU Jie LI Wenwei XU Shangyong |
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| Affiliation: | YANG Keshi,LIU Jie,LI Wenwei,XU Shangyong(School of Mechanical Engineering & Automation,Northeastern University,Shenyang Liaoning 110819,China) |
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| Abstract: | In order to implement the anthropomorphic manipulation of excavation processing,the electro-hydraulic modification of Komatsu PC02 excavator's hydraulic system was made,for the new system could receive the voltage signal;and xPC target real time control platform was constructed.The experiment method was proposed,combining Stateflow,Fuzzy Logic toolboxes and Simulink,based on fuzzy-behavior approach,and the unearth rock fuzzy-behavior was proved valid.The results shows that the fuzzy-behavior approach was ef... |
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| Keywords: | Excavator Anthropomorphic manipulation Behavior control Fuzzy logic |
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