基于Hammerstein模型的液压挖掘机非线性预测控制模型

液压挖掘机系统模型结构复杂，计算繁琐且分析耗时，无法满足高效操作的需求。对此，针对挖掘机模型跟踪性能较差的问题，采用Hammerstein模型，实现液压挖掘机的预测控制。通过液压挖掘机系统结构的理论推导，对复杂的液压挖掘机模型进行简化，建立具有Hammerstein结构的液压挖掘机非线性模型。结合序列二次规划算法对该非线性模型进行求解，实现对液压挖掘机非线性模型的预测控制。在MATLAB/Simulink环境下对回转装置、动臂、斗杆和铲斗的控制进行仿真和分析。结果表明：回转装置、动臂、斗杆和铲斗实际位置与预期位置存在较小偏差，且先导压力没有出现过于频繁的冲击，气缸压力波动幅度较小。该液压挖掘机非线性预测控制模型有良好的跟踪性能和较高的控制稳定性。

Nonlinear Predictive Control Model of Hydraulic Excavator Based on Hammerstein Model

The model structure of hydraulic excavator system is complex,the calculation is complicated and the analysis is time-consuming,which cannot meet the requirement of efficient operation.Aiming at the poor tracking performance of complex excavator model,Hammerstein model was adopted to realize the predictive control of hydraulic excavator.Through the theoretical derivation of hydraulic excavator system structure,the complicated hydraulic excavator model was simplified and the Hammerstein hydraulic excavator nonlinear model was established.Combined with the sequential quadratic programming algorithm,the nonlinear model was solved to realize the predictive control of the nonlinear model of hydraulic excavator.In MATLAB/Simulink environment,the control of slewing device,moving arm,bucket and bucket was simulated and analyzed.The results show that the actual positions of the rotary device,moving arm,bucket and bucket have little deviation from the expected positions,the lead pressure does not have too frequent impact,and the fluctuation range of cylinder pressure is small.It shows that the nonlinear predictive control model of hydraulic excavator has good tracking performance and high control stability.