The invention provides an engineering mechanical arm support control method and device and engineering machinery, and belongs to the technical field of engineering machinery control. The engineering mechanical arm support control method comprises the steps that multiple joint angles are obtained in real time; the method comprises the steps of obtaining a plurality of joint angles, obtaining a dynamic model by adopting dynamic modeling based on each joint parameter and the plurality of joint angles of the engineering mechanical arm support, carrying out trajectory tracking control on the engineering mechanical arm support by adopting a sliding mode control algorithm based on the dynamic model to obtain a sliding mode control rate, and obtaining a plurality of joint angles of the engineering mechanical arm support based on the sliding mode control rate. And all joints of the engineering mechanical arm frame are controlled. The moment of each joint of the engineering mechanical arm support is controlled by adopting the sliding mode control rate obtained by adopting the sliding mode control algorithm, so that real-time accurate tracking of a planned track by an actual track can be realized, and the robustness is improved. Dynamic modeling is constructed by obtaining multiple joint angles, so that modeling of multiple degrees of freedom is achieved, and the accuracy of trajectory tracking is further improved.
本发明提供一种工程机械臂架控制方法、装置及工程机械,属于工程机械控制技术领域。所述工程机械臂架控制方法包括:实时获取多个关节角度;基于工程机械臂架的各个关节参数和所述多个关节角度,采用动力学建模,得到动力学模型,基于所述动力学模型,采用滑模控制算法对所述工程机械臂架进行轨迹跟踪控制,得到滑动模态控制率,基于所述滑动模态控制率,对所述工程机械臂架的各个关节进行控制。通过采用滑模控制算法得到的滑动模态控制率来控制工程机械臂架的各个关节力矩可以实现实际轨迹对规划轨迹的实时精确跟踪,并提高了鲁棒性。通过获取多个关节角度来构建动力学建模,以便于实现多个自由度的建模,以助于进一步提高轨迹跟踪的精确度。
Engineering machinery arm support control method and device and engineering machinery
工程机械臂架控制方法、装置及工程机械
2024-07-02
Patent
Electronic Resource
Chinese
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