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Motion trajectory control of loader working device based on EDEM
Published:2023-08-14 author:ZHANG Kai-xiang, ZHU Xue-yan, ZHOU Qing-hui, et al. Browse: 393 Check PDF documents
Motion trajectory control of loader working device based on EDEM


ZHANG Kai-xiang1, ZHU Xue-yan1, ZHOU Qing-hui1,2, QIU Yu-hang1, SUN Jian-min1

(1.School of Mechanical-Electronic and Vehicle Engineering, Beijing University of Civil Engineering and Architecture, Beijing 
102600, China; 2.Beijing Engineering Research Center of Monitoring for Construction Safety, Beijing 102600, China)


Abstract:  Aiming at the problems of slow convergence speed, low tracking accuracy, and difficulty in estimating the interference term (shove loading resistance) in the actual operation of the control system of the loader working device, a non-singular fast terminal sliding mode control method based on discrete element method (DEM) was proposed to compensate shovel loading resistance. Firstly, the mathematical model of loader working device was derived. The shovel loading resistance of the working device was studied based on the discrete element software EDEM. Combining with the non-singular fast terminal sliding mode control, the nonlinear feedback control law with shovel loading resistance compensation was designed. Then, the Lyapunov function was used to demonstrate the performance of the proposed control method. Finally, in MATLAB/Simulink, the stability and convergence characteristics of the designed control system were verified, and the proportional-differential sliding mode controller (PDSMC) and fractional order proportional-differential sliding mode controller (FOPDSMC) were compared and analyzed. The research results show that, under the two conditions, the root mean square error(RMSE) of trajectory tracking error is reduced to 8% and 22% of the control data, using the non-singular fast terminal sliding mode control method based on shovel resistance compensation, and the error convergence speed is increased by 70% and 57% respectively. It verifies that the comprehensive performance of the nonsingular fast terminal sliding mode control method based on shovel load resistance compensation is better.

Key words:  nonsingular fast terminal sliding control; Lyapunov theory;discrete element method (DEM); finitetime convergence; proportionaldifferential sliding mode controller (PDSMC); fractional order proportionaldifferential sliding mode controller (FOPDSMC)

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