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:2006-12-20:(1950-),,.E2mail:zyingkexiao@yahoo.com.cn,,(,123000):,,,PID..:;;;PID:U415.511:A:1672-5581(2007)01-0072-03DynamicalanalysisandcontrolformanipulatorofhydraulicexcavatorLIUPeng2hu,ZHANGYong,ZHANGQiang(CollegeofMechanicalEngineering,LiaoningTechnicalUniversity,Fuxin123000,China)Abstract:Inthisstudy,athree2degree2freedom(3DF)dynamicalanalysisisfirstconductedforthemanipula2torofahydraulicexcavator.Afterwards,adynamicalfunctionisestablishedbasedontheLagrangianequa2tion.Meanwhile,thecomputerizedcontrol,PIDcontroldiagramandscoop2pathtrackingequationareadapt2ed.Finally,thisapproachhasbeenproveneffectiveintrajectorytrackingandmotioncontrolofthemanipula2tor.Keywords:hydraulicexcavator;kinematics;Lagrangeequation;PIDcontrol,,.,.,.,,,().[1],,:.:New2Euler[2].,.:KoivoNew2Euler.New2Euler,,,.,5120071CHINESEJOURNALOFCONSTRUCTIONMACHINERYVol.5No.1Jan.2007,,.:,;,..11.1[3],.Denavit2Hartenberg(D2H),1.1Fig.1Coordinateframeforexcavatorkinematics(--),:An=ni=0i-1Ai(1):An,n=3;i-1Aiii-1.1.2Ti=nj=1Dij()ji+nj=1nk=1Hijk)()jk+Gi()(2):Ti;Dij();Hijk;Gi();ji,jk.Dij,HijkGiDij=np=max(i,j)mp[pTikppj+pdigpdj+prpg(pdipj+pdjpi)](3):mpp;Q;kpQ;diXiXi-1Zi;djYi-1YiZi;prpp();g.,:pdix=-i-1npxi-1ppy+i-1npyi-1ppxpdiy=-i-1opxi-1ppy+i-1opyi-1ppxpdiz=-i-1apxi-1ppy+i-1apyi-1ppxpi=i-1npzi+i-1opzj+i-1apzk(4)371,::i-1np,i-1op,i-1pp,i-1api-1Rp4;i-1ppx,i-1ppyi-1ppkp=k2pxx-k2pxy-k2pxz-k2pxyk2pyy-k2pyz-k2pxz-k2pyzk2pzz(5)Hijk=9Dij9k-129Djk9i(6)Gi=i-1gnp=impi-1rp(7):i-1g=[-gg0oi-1,gg0ni-1,0,0];g0=[g,0,0,0];i-1rppi-1.2.PID[4],,,.2.12PID,.2PIDFig.2DiagramofPIDcontrol2.2,,[5].1(x,y)xy=l1cos1+l2cos(1+2)+l3cos(1+2+3)l1sin1+l2sin(1+2)+l3sin(1+2+3)(8):li;iXiXi-1Zi.(8)xy=a11a12a13a21a22a2312:a11=-lsin1-l2sin(1+2)-l3sin(1+2+3);a12=-l2sin(1+2)-l3sin(1+2+3);a13=-l3sin(1+2+3);a21=l1cos1+l2cos(1+2)+l3cos(1+2+3);a22=l2cos(1+2)+l3cos(1+2+3);a23=l3cos(1+2+3).xy=J12(9):J.(9),2[6]123=J-1KP(xd-x)+K(xd-x)+KD(xd+x)KP(xd-y)+K(yd-y)+KD(yd+y)(10):i;KP,KD;K.(112)4756,W,WC[4],WWC,.4(1),W;W,,,W.(2),W.,,.:[1]WRIGHTDN,ENGELSJA.Theenvironmentalandcostbenefitsofusingdiamondwireforquarryingandprocessingofnaturalstone[J].IDR,2003,4:16-24.[2]OZCELIKY,BAYRAMF.Opticalinvestigationsofbeadwearindiamondwirecutting[J].IDR,2004,3:60-65.[3]JENNINGSM.Versatilityofdiamondwiresawsintheconstructionindustry[J].IDR,2004,3:16-18.[4],.[M].:,1999.SUNYuchao,SONGYueqing.Thefoundationofdiamondtoolsandmetallography[M].Beijing:BuildingMaterialsIndustryPrees,1999.[5].[J].,2001(4):22-24.ZHANGJiansen.TheeffectofCocontentontheholdingforceofdiamondsandthemechanicalpropertyofmatrixintheFe2basedmatrixblade[J].SuperhardMaterial&Engineering,2001(4):22-24.(74)3(1)D-H,.,.(2);PID.,.:[1].[M].:,2000.CAIZixing.Studyofrobot[M].Beijing:TsinghuaUniversityPress,2000.[2].[M].:,1991.ZHUJing.Robotandcontroltechnique[M].Hangzhou:ZhejiangUniversityPress,1991.[3].[M].:,1996.XIONGYoulun.Robotcontroltechnique[M].Wuhan:HuazhongUniversityofScienceandTechnologyPress,1996.[4].[D].:,1998.LUOShanghu.Diggingmachineearthmovingprocessplanandsimulatedmethodresearch[D].Hangzhou:ZhejiangUniversity,1998.[5],,.[J].,2005(1):61-63.ZHANGDaqing,HAOPeng,HEQinghua.Thetrajectorycontrolsthehydraulicpressurediggingmachinebucket[J].BuildingMachinery,2005(1):61-63.[6],.[J].:,2002,25(4):402-405.ZHOUBo,ZHOUHui.Wisdomcontrolsthetrackingexcavatingtherobotjobtrajectory[J].WuhanScienceandTechnologyCollegeJour2nal:NaturalScience,2002,25(4):402-405.2115