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在林业起重机中最大限度地减少摇摆运动
Elham Kowsari1, Reza Ghabcheloo1
1Faculty of Engineering and Natural Sciences, Tampere University, Tampere, Finland.
Frontiers in robotics and AI
|August 30, 2024
概括
一个新的最佳前控制器显著减少了超过60%的液压操纵器的摇摆,在没有额外传感器的林业日志装载任务中提高了安全性和效率.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 机械工程 机械工程
- 林业技术 林业技术 林业技术
背景情况:
- 液压操纵器,特别是那些用于林业的日志装载,往往在移动期间和移动后经历不良摇摆.
- 这种影响力可能会损害运营效率,安全和任务质量.
- 现有的控制方法可能需要复杂的传感器系统或缺乏适应性.
研究的目的:
- 为带有被动抓的液压操纵器引入一种新的最佳前控制器.
- 为了特别解决和减轻木材装载过程中林业转运机械的摇摆问题.
- 开发一个在计算上高效的控制器,提供流的操作,并允许定制.
主要方法:
- 开发一个最佳的进料控制器,设计用于摇摆阻尼.
- 控制器的实现和模拟使用林业转运商的阿米西姆模型.
- 专注于低计算需求和可定制参数,以满足操作员的偏好.
主要成果:
- 模拟结果显示,摇摆运动显著减少,平均超过60%.
- 控制器实现了有效的摇摆抑制,而不需要额外的摇摆检测传感器.
- 系统设计简化,由于没有额外的传感器,成本可能会降低.
结论:
- 提出的最佳前控制器提供了一种有效的解决方案,用于减少带有被动的液压操纵器的摇摆.
- 该方法的多功能性使其在各种领域广泛适用,包括建筑起重机,林业车辆和空中无人机.
- 这种反倾斜控制框架有可能在多个行业显著提高安全性和效率.
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