61 / 2023-12-28 21:07:20

Joint Simulation Analysis and Trajectory Planning Strategy Research for Large Intelligent Excavators

Intelligent excavator; green mine; joint simulation; trajectory planning; autonomous operations

Conducting research on the intelligence of large mining excavators to improve the level of green and intelligent mining and the core competitiveness of excavator industry has important social and economic significance. However, current intelligent research mainly focuses on small and medium-sized excavators, facing challenges such as large structural modifications, high costs, and unsuitable sensors for complex working environments. Addressing these issues, this article specifically explores the intelligent trajectory planning strategy for 95t large mining excavators. Firstly, the characteristics and control methods of the excavator’s positive flow control system were introduced. Subsequently, a real-time joint simulation based on AMESim, Simcenter 3D and Simulink was established, and the accuracy of the model was verified through experiments. Next, a trajectory planning method and strategy based on tilt sensor feedback is proposed to conduct intelligent research in a low-cost and high-reliability manner. Finally, prototype modifications and excavation experiments were conducted on 95t large mining excavator. The experimental results demonstrate that the proposed control strategy can reliably and stably achieve autonomous planning and continuous operation of excavator, which is helpful for promoting intelligent research on large excavators and green mining.