李海虹,林贞国,杜娟,陈志恢.挖掘机自主挖掘分段可变阶多项式轨迹规划[J].农业机械学报,2016,47(4):319-325.
Li Haihong,Lin Zhenguo,Du Juan,Chen Zhihui.Piecewise Polynomial with Variable Order in Trajectory Planning for Autonomous Mining[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(4):319-325.
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挖掘机自主挖掘分段可变阶多项式轨迹规划   [下载全文]
Piecewise Polynomial with Variable Order in Trajectory Planning for Autonomous Mining   [Download Pdf][in English]
投稿时间:2015-09-14  
DOI:10.6041/j.issn.1000-1298.2016.04.042
中文关键词:  挖掘机  分段多项式插值  轨迹规划  最高阶次数修正  仿真
基金项目:国家自然科学基金项目(551475317)和山西省青年科技研究基金项目(2010021021—2)
作者单位
李海虹 太原科技大学 
林贞国 太原科技大学 
杜娟 太原科技大学 
陈志恢 太原重工股份有限公司起重机分公司 
中文摘要:为保证挖掘机在自主挖掘作业中轨迹平稳连续,降低振动冲击,提出了一种轨迹规划方法,即将作业空间中路径进行合理分段,使其在保证轨迹规划结果中路径偏差较小不影响完成工作任务的前提下计算量尽量减小,并对每一段路径进行可变阶多项式插值轨迹规划。以某型单斗液压挖掘机实现自主挖掘为例,采用3—3—5—3—3多项式插值法进行轨迹规划,通过Matlab平台仿真,结果显示挖掘机各关节角位移、角速度、角加速度曲线平滑连续,但部分轨迹段角加速度超出加速度约束值。为进一步提高其动力学特性,对角加速度不满足要求的轨迹段,根据加速度约束,修正多项式最高阶次数,并利用修正后的高阶多项式进行轨迹规划。通过仿真结果对比,该分段可变阶多项式轨迹规划方法能够实现更加平稳连续的自主挖掘。
Li Haihong  Lin Zhenguo  Du Juan  Chen Zhihui
Taiyuan University of Science and Technology,Taiyuan University of Science and Technology,Taiyuan University of Science and Technology and Crane Branch, Taiyuan Heavy Industry Co., Ltd.
Key Words:excavator  piecewise polynomial interpolation  trajectory planning  modification of the highest order number  simulation
Abstract:A new path planning method was proposed for an excavator to finish the autonomous mining, which was aimed to make the trajectory smooth and continuous, and decrease vibration impact strength. According to the proposed method, the path in working space will be reasonably segmented, so that the calculation of the amount of calculation will be reduced as far as possible in order to ensure that the path deviation of the path planning result is not affected by the task completion, and the trajectory planning of each segment was computed respectively by using interpolation polynomial with variable order. A certain type of single bucket hydraulic excavator was taken as the research object. First of all, the mining path was separated into five segments which employed interpolation polynomial with high order of 3—3—5—3—3 successively in trajectory planning. The simulation was achieved by Matlab software. The result showed that the three curves for joint angle, angular velocity and angular acceleration were smooth and continuous, but some acceleration values in some segments exceeded the acceleration constraint. In order to improve the dynamics performance of the excavator’s working mechanism, the segments having odd values were computed afresh with modified trajectory polynomial of which the highest order was calculated in terms of the acceleration constraint. New curve which figured by the piecewise polynomial with variable order showed that the new trajectory planning could be of use for the stable and continuous operation in autonomous mining.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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