Abstract: To improve the accuracy of the trajectory tracking of hydraulic excavator working device, Lagrange dynamics model of hydraulic excavator working device was established.Because the hydraulic excavator working device had highly nonlinear, time lay, parameter uncertainty, sliding mode algorithm based on the low pass filter was proposed.The simulation results showed that the sliding mode control method was based on the low pass filter, which effectively eliminate chattering phenomenon, and improved the fast tracking performance and dynamic response performance of the system, and had a stronger robustness to parameter uncertainties.

Key words: Hydraulic excavator, Working device, Dynamics, Low pass filter, Sliding mode control

摘要： 为了提高液压挖掘机工作装置轨迹跟踪的精确度,用Lagrange法建立了液压挖掘机工作装置的动力学方程。针对液压挖掘机工作装置的高度非线性、时滞性及参数不确定性,运用带低通滤波器的滑模算法对其进行控制,并对设计的控制器进行了稳定性分析,对工作装置进行了仿真实验。结果表明,基于低通滤波器的滑模控制算法,既可有效地消除抖振现象,又可提高系统的快速跟踪性能和动态响应性能,同时对参数不确定性有较好的鲁棒性。

关键词: 液压挖掘机, 工作装置, 动力学, 低通滤波器, 滑模控制