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null null null nullnull null null null null null nullnullnullnull nullnull null null nullnull nullnullnullnullnullnull null nullnullnull nullnull null null null nullnull null null null null nullnull null倒 伽川nullnull 官, null null null null null null耐 , null 塊叫, nullnull時null null 塊哪nullnullnull null null null null null哪null nullnull null 反nullnull null null nullnull null null null null null姐null null null nullnullnull null null昭nullnull nullnull null null null nullnullnull, null nullnull昭 nullnullnullnull nullnull , nullnull null nullnull nullnull null null nullnullnull nullnull null null null null null null null nullnull null nullnullnullnull nullnull null null null null null null null 元 nullnullnull null null null nullnull null nullnullnull nullnull null null , nullnullnull , null null null 堪范 nullnullnullnull nullnull , nullnull null nullnull nullnull 秘nullnull 面nullnull null nullnullnull null null null null null null nullnull 。null飯內(nèi), null null null null nullnullnull null null null卯nullnull null null nullnull nullnull null null null nullnullnullnull nullnullnull nullnull呢 nullnullnullnullnullnullnullnull nullnull nullnull nullnull null nullnull雌 nullnullnull nullnull null堪nullnull null null nullnull null null nullnullnull null null null nullnullnullnull null nullnullnull null null null null null null null , nullnullnull nullnullnullnull null null nullnullnullnullnull nullnull null nullnull nullnull null nullnullnull null null nullnullnull nullnull nullnullnull null null null null null nullnull null nullnull null nullnull ,nullnullnull 雌nullnullnullnull null null nullnullnull nullnullnull nullnull nullnullnull null null nullnullnull null null null nullnull null nullnullnull null null nullnull null nullnull雌 null null nullnullnullnullnull null nullnullnull null null null null null nullnull null , nullnull nullnullnull nullnull null nullnullnullnull null nullnull而null nullnull nullnull null nullnullnull null null null nullnullnull null null null nullnullnullnull nullnull null nullnull nullnullnull nullnull null null null nullnullnull nullnullnullnull null null nullnullnull null nullnull null nullnullnull null null nullnullnull null nullnullnullnull null , nullnullnull nullnull nullnull nullnullnullnull nullnull nullnullnull nullnullnullnull null null nullnullnull null null null null nullnullnull null nullnull nullnullnullnullnull null nullnull null null null null nullnullnull nullnull null null nullnullnullnullnull nullnull ! null null# % & null( ) nullnullnull + null null !null, nullnull %( .% #/ & !null 01/2/ null # , andp ro b es i n t o t h e t r aj e e t o r ye o n t r ol forwork in g e 明iPm ent of hydr aulieexcavator, the P owe rrnat e hi n g e o n t r o l b etwe e nh y dr a ul ie p um pa nde n gin e.T he r emot emoni to ri雌and thefa ultdiagnosis expert system ar edeveloped.T he Praetica l aPPlica tion revea ls that theintelligentized hydraulie exca va tor 15 highlyautoma ted,in t el l i ge n tiz edand info rmat i o n i z e d , 應ndenj oys the ad va ntages sueh as relatively strongperfo rm anee , r e l a t i v e l y hi g h o p e ra t i n g e l f i e i e n e y a n decon om i ca lef fieie n e y.K 。叨Or ds H yd raulie exca vator, I n t e l l ig e n t e o n t r o lG P S/ G P R S b a s e d ; Fa u lt di a g n o s i s.1 I n t 】, :心UCtionA s a rna in- strea m Pro duet of eonstruetiona lma ehinery,h y dr a ul ie e xca vat o r P l a y s a n i m P o r ta n tro lein e o n s t r u e tio n of indu s trialandei vi l bui l din g s ,t r afiefaei l i t ie s ,wat e r e o n s erva n e yfa ci l i t ie s ,h y dr o ele e t riefa ei l i t ie s and 而litar y fa eilities. W iththe sustained developm ent ofthe national eeonomy ,t h e d e 幻n a n d s o n e x ca v a to r 側11 inc rea ses by a 側dem argin yea : by ”a產(chǎn). In 20 0 4 , t he p r odu e tio nv olume ofe xcav a t o rinC h in a reaehed 2 7 5 0 0s e t s ,a e e o u n tin gfor2 7.8 %of t he pro du e tio n thr o u gho u tt h eworl d.A t Pr e s e n t , theis s u e s r ela tin g t oe n vir o nme n t al P ro tect io n ande n e r g y e o n s e r v a tio nha v e a r o u s eda g r e a td ea lof pub l ie e o n e e r n.As ar e s ul t,h i g he r r e q uir eme n t s a r e p u tfo rwa rdo nr el iab i l i t y, e e o n om ie ef ieie ncy,fu n e tio n a nda u t ornat i o n o f h ydra ul ie excav ator.T heh 州raulieexca vator Presently avai lable on th e 口進rk et ,howe v e r ,一ha sthefo l lo 初ng di sa dvanta ges:(1 ) 助w degree of autotna tion: W hen usinghydraulie exca va torto leveluP afield ordig a diteh,sin e e thedriv e rhas t o e o n t r ol t heb co m, 日幻的 an db u ek et sim u lta n eo u sly , t hein t e n si t yof h islabo ur 15r ela tiv el y hi g h, and he 1 5 a l s o r e q u i r e d t o b e w e l ls k i l l e d .( 2 ) W h e n t h e h y d r a u l i e e x ca v a t o r 15 r u n ni 雌,i f t heP o w e r a b so r b e d b y t h e h y d r a u l i e s y s t e m e x e e e d s th er a t ed powerof t he e ngin e ,the eng in e 側11sta llandeven stoP. In sueh ca se, the o P e r a tiona lP e 汀ortr進n ee o f e x ca v ato r ca n,t b e b r o u g h t i n t o f u l lp l a y, a nd t hefu el con s um p t io n 誡11also inerea se.(3 ) O w ing to its eom plica ted strueture and theext rem e oPera ting environm ent,h y dr a ul ie e xcav a t o renjo y s a r ela tiv el y hi g h fa ul tr a t e.W he n e v e r afaul to e e u r s ,mai n t e na n e e p e r s o n n e l h a v e t omak e g r ea te f f o r t s t o i d e n t i f y t h ecau s e o f fa u l t ,w h ieh m ean st h e e xcav a t o r wi l l be o u t ofs e r vie eforlo n g ti me a ndt h u s t h e u s e r 誠11ineur huge eeonom ie losses.(4) Sinee the exca va tor ca n, t bebr o u gh tu nde rr emot emoni to rin g and man a g eme n t , the r a tio n ald is p a t eh in gfor e xcav atorcan , tbe rea l i ze da nd t hen e eds ofmode r n e o n s t r u e t i o ncan , tbe s a tisf ied.T ha nks t o the e x t e n siv e a p pl i ca tio n ofeomp u t e rt e e h n o l o g yan d in t el l i ge n t e o n t r ol te eh no lo g y ,con s t r u e tiona lrnaeh in e r yha sde v elo ped f ro mh y dr a ul i ca l l y- control led t y Pe t od i gi ta l i ze d t yPew h i e h 1 5 o f s i m P l i fi ed s t r u e t u r e,eas y t ocon t r ola ndmor ein t el l i ge n tiz ed.For exa m p le , t h e PC3o oh y dr a u l i e excav a t o r r 以n u fa etu red b y Ja P an- b a sedK O M A T S U o b 面ns 3一 d ime nsio n t raje e t o r y e o n t r olab i li t y w it h t hehel pof t he til t eda n gle s e n s o r smo u n t eda ti tsb o m, arma nd bu eke t , o t h e rh y dr a u l ie exca vat o r sman u fa e t u r e d b y V O L V O ,C A T,K O 側護LT S U and H IT A C H obtain the rem otemo nitori n g ability thanks to the G P Smou nted.T h e intelligentize d hydraulie exca vator 15 highlyintelligentize d , a u t o r n a t e da nd informat i o n i ze d.I ts一 521 一醫(yī)比In ly e m bo d ied in th e fo llo 初眼aspeets:Itca n ca r y out automa tion;itrea lize s thetrajeetory eontrolfo rwor拓叮 叫uipm ent, it rea l iz e st h e s e lf- a da P t i n g po w e rmat e hi n g co n t r o l b e t w e ne ngin e a n d h y d ra u l ie p u m p ; it ca n ca r y o u t r emot ed a ta trans 而ssion, r e m o t emon i t o ri n g a n d r emot eman age me n t , it ca n ca r r y o u t fa ul t di a g n o s i s a n dm a in t e na n e e.2 Co m p 哈iti on of ln tel li 羅n吐雙月E xca va for s te m 瓏.2 反hema tie diagr 田舊 o f co n tro lle rA s ind ica te d in Fi g.l , t hei ntel l i ge ntized h 州raulieexca va torsys tem 15eom POsed ofaco ntro ller, a G P S( G l o b a l PO s i t i o n S y s t e m ),G P R S (General Pa eke tRad ioSer vie e), a r e r n o t e s e rver , a r n o ni to r , a因rta ble faultdi 昭no sis system and etC.嚨.1 Co m卯sition ofh州ra ul ic va to rinte】1運entizedrsystem2.1 ( 勸nt洲目】erAs in dica ted in F ig.2 , thecon tro l le r15co m 卯sed ofaignal a叫uisition mo dule, 卯w er dri ve mo dule,moni torm odule a nd G P s/ G P R S module , and ta ke sadi gi ta lsi gn al proce s s o r( D 6 P )a si ts e o r e e o n tro lu 垃t 2. Its sig n a l a eq u isitio n medu le m ea sur es th etilted a呢le, p r e s s u r e , s P e e d a n d temp e ra t u rethro 呀h periphera l senso rs, a n d t h es e s i g n a l sares e n t t o thecontrol l eraft er goi ng t h rou ghana log-di gi t con versio 幾 In thi swa y,therea卜tim ein fo n刀a tio n a bo u t th e e x Cav ato r 15 o b tai n ed.T h e mo n ito r 15 u sed to d isp lay th e m ain o 沐rati呢Pa rame te rs sueh as engi ne speed , t hee 眼ine 011tem Perature, e n g l n e 0 1 1 P r e s u r e a n dcol i ngwat e rt e m p er a t u r e,to di sP la yfaul t co de and gi ve analarmo n theba sis of t hao Perat ing cond i tio n s of theexcav a t o r , a nd todis pla y rea l-t i m e i n f ormat i o nabou tposi tio n a nd ge s t u r e of bu eke tin theformofd i gi to rfi gu r eSin e e thecon tro l le rcornuni cat e swi tho th er Pa rtsinC A N ( 偽ntrolArea Netwo rk) mo de , alo t of初re has be n dispensed , a ndt h u s t h e 5 1 9 汕1一control一 522 一reliability an d anti-interferenee ca Paeity have beenim Pro ved . The CAN bus w hieh 15 adaPta ble to theoPera ti飛 environment of hyd raulic exca va to rensures thatthe co ntro lca n be carrled outin a rea ltime , fie 范ble and exPand able w ay andma kes it ea syfo r the co ntroller to fo rm a m ult卜co ntroller net、v o r kto g e t h e r 誠th other periPhera l devi ees. Sinee theC A N bus ado pts the m essa 獷based eneodingme thod and the priorit獷based no n destruct ive busar bitra tion teeh no logy , i tenjo y sh i g ha n ti-in t e 班erenee ca pad ty ,h i ghr el iab i l i t ya ndr ela tiv el yh i g hrea l-t imeca pa ei t y.Thecomu ni ca t io np r o tocl o bs e r v ed b y C A N bu sme e t sS A E J 1 9 3 9,the ph ysi ca l la y e r of C A N bu smee t sS A E J 1 9 3 9 /1 5, thecornmuni ca t io n r a t e of C A N bu s152 5 0 K b i t /s ,an dt h e t ermln al resistanceof C A N bu s151 2 o n 3 .For th e p u rpo se o f m eeting th e req u iremn t o neo m forta b le o p era tio n , thein t el l i ge n th y dr a ul ieexcava tor15 四uipped 初th a co ntro lhandle designedin aeco rda nee 側th the Princi Ple of huma nengine ring A s indica ted in Fi g.3,ano p ti ca l t 即eno n- co ntaet switeh 15 m ount ed on the co ntro lha nd le. Thro ugh tha CAN bus, t h e s i g na l r e l a t i n gt o t h e di s P l ace me n t of t he e o n t r ol ha nd le a nd t hesi gnalof t he o p ti ca ls 誠teh ar e sent to theco ntro ller. T he buttons on the eontro l handle areused to seleet oPerati吧 m od e. If the ma nualoPera ting mo de 15 selec ted , the e o n t r ol hand le15F i g.3Con tro l handle d es i, 曰 inacord an ee 嫩thhun坦n e側,neri 呢 Princ iple,t h eo P era to rin P u t s o P e r a tin g p a r ame t e r s thr o u gh t hemoni tor , a nd t he n the e xca va to r wi l lo P e r a t eina ecorda n e ew i t h t he t raj ect o r y w h i e h 1 5 d e t ermin edb y t he e o n tro l le r o n theba sis of t he o p e r a tin gP a r a m e t e r s, 5 0 tha t the a u t oma tie e o n t r olo n theexca v a t o r15 rea l iz ed.s t r u e t u r e , wh iehe o n n e e t ed to thesi mul ta neou sl y.】11e s n s s e v e r a lmod e m s rna y b es e r v e r fo r d a ts tr a n s m is s io n、泛、占2.2Remot七info 川陽tl叨 t. 此sr 川sl onG P R S is a 初reless paeket s側tehing teehnologyw hieh ofters end- to- end w ireless IP eonneetionw ithin 誠de area and w hereby data 15 transm itted inPaeket. The strueture of remo te info rm ationtransm ission mo dule of intelligentized hydra ulieexeavator15asindieated in Fi g.4. GPRS IP M odem15eonneeted to the co 爪roller w hieh 15 rnounted onthe excavator thro ugh R S232 po rt, a nde x eha n g e sdats w i t h t he r e r n o t e s e r v e r via theIn t e r n e t.T hee o n tro l le r 側11 eonvert the da ta aequired into thefo rma t w hieh ca n be trans而tted by the G PRS IPM odem , a n d t h e n t h e d a t a w i l l b e s e n t t o t h er emot e s e r v e r b y t h e G P R SIP Modemvia theIn t e r n e t.Remo t e s e r v e rwi l lals o s e nde ommand tot h e e o n t r o l l e r.In th isway, the r emot emoni to rin go nh y d raul ie e xcav ator15 rea l i ze d.Bet w e e n t h eG P R S I P Modema nd t heremot e s e r v e r 1 5 aC/S下島m o妞 C on U n陰i偽石OnT C P幾Pe竹OtO 閱! 獷RS232PortFig.4Struetureofre比IO te in fo n l犯tio n t獷已n 5 1而”幻n2 . 3 A P P lica U on of G 玲GPS 15 a globalwireless na vigation and Po sitioni 雌system co m po sed of24 artifieialsa tellites an d ear thstations. W ith the help of GPS and G PRS, t h er e m o t e m o n i t o r ing, s e rvie e a ndrnan a g eme n t o nin t el l i ge n ti 名ede x ca v a to r a r e rea liz e d .Bes id e s t h e in forma t io n a b o u t P o s itio n o f excav a to r ,t h e e o n tro l le r wh ieh 15 e q ui p ped w i t haG P S/ G P R Smodule als o s e nds the o p e r a tin g P a r ame t e r s of t heexcav a t o r s u eha s t em pe r a t u r e , p r e s s u r e a ndw o r k i呀 hours to the rem ote server.腸ble l 戶乃司喊.寸 Pl ann ing and 州ual lrl, ”ur 曰 喇ue for excava奴片 in 510診州瀏耐ng o講ra tlonel () 氏(.) 么(.)Exp 戈t己 V alue M ea sur 已 V alue Ex戶沈t曰 V alue M ea sur曰 V alue E x戶, t 已 V al ue M ea sur曰 V al ueG ro uP I 45.4844 45.32 一30.8705 一30.65 一 59.6139 一59.87G ro uP Z 47.6061 47.53 一37.9184 一 38.20 一 54.6877 一54.32G ro uP 3 49.3361 49.62 一43.4816 一4 3.43 一 50.4445 一50.59G rouP 4 50.8090 5 1.20 一49.1842 一49.32 一46.6247 一46.31G rouP S 52.0931 5 1.76 一53.9979 一54.03 一43.0952 一 43.27G ro uP 6 53.2289 53.52 一58.4522 一58.53 一 39.7766 一39.82G ro uP 7 54.2421 54.30 一62.6250 一62.32 一 36 6171 一36.33G ro uP S 55.1501 54.90 一66.5701 一66.87 一 33.5799 一33.81G ro uP g 55.9694 56.12 一70.3722 一70.56 一30.6382 一30.24G rouP 10 56.6968 56.32 一73.9259 一74.22 一 27.7708 一28.02T h e po sitio nco rdin a tes o f th e exc a v ato r arerefleeted o n th e m ap b y th e eleetro n iema p p in gsy ste m , 5 0 a s tha t the s a t el l i t e- ba s ed po s i tio nin g&t r a e k i 雌 ofexca vator 15 rea lized. Getting aeeess tothe remo te servervia the Internet, t h e o P e ra t o r m a ymoni to r the o P e r a tin g e o nd i t io n s a ndob ta in P o si t io ninformat i o n o f t h e e x ca v a t o r i n a rea lt i m eway.3 Intell l 羅nt con 加land fa ultdi鮮貝傭is3.1 升川代協(xié)口 con t, 1fo r wo歡ing 叫ul plr比n tT h e a u to rnatie co n tro l o n e x ca v a to r m e an s to eo n tro lth e w o rk in g eq u iP m en t o f ex ea va to r a u tomatica lly ,5 0 a s t omake thebu eke t of t he e xcav a t o r r n o v ealo 眼 a speeifie trajeetory. If the exca vator 15523 一吧 , t h e l a bo ur in t ens it y o fd riv e r15l i g h te ned, th e o p e r ati 呀 efi cienc y 15impro ved and the co ns truetion 15ac elera ted .The worki ng 叫uipm ent of hydr aulie exca va tor is alinkage m ec hanism co m po sed of bo m , a n n a ndbu eke t.T hemov eme n t of eaeh part15 rea l l雙刁onth e basis of the retraetion and eXt ension of theeorresPonden t hyd raulie eylinder. A s ind ica ted inF ig . 5 , r e g a r d t hewor 拓ng 四說pm en t as am ec h ani ca l hand wi th 3 degrees of freedo m , r eg ar dt h e bco m, the arma nd t hebu eke t a sl i nk l,l i nk Za nd l i nk 3r e s P e e tiv el y,re ga rd t he 別rt ie u la tedco nnectio n b etwee n th e b 以m a n d th e ro ta tingP la tforma s J o in t l , r e g a rd t he a rtie ula tedcon n e c tio nbe twe e n the armandt h e f r o n t e n d o fb o ma sJoin tZ, a nd r e g a r d t h e a rt i e u l a t e dcon n e e t i o n b e t w e e n t h e b u e k e t a n d t h e fron t e n d o fa r r o a sJo i n t 3 .個zbetwe nthe2 link s, a meanst h e l engt h o f l i n k i( na me l y t h ele n gt h ofc o n u n o nnor tr 進l) , a mean sthe in e lu deda 雌le be twen the 2 ioints w hieh arevert ica lto the a p lane , a nd dm ea n s t h e d is t a n e ebe t w en t h e 2 c o r n r n o n v e r t ica l l in e s o f li n k i , s a 勸allin 已 n , o , a a n d Pr efer t oposi t io n v e e t o r s of t hebu eke t.XF i g.5 S Pae eco rdinat es fo r嘆山P 們ne n t o fs y ste rn le X CS V 8 to rwo 南ngDr iven by 011 eylinder, l i n k l , l i nk 2 a n d l i nk3mak e t h e w o r k i ng eq u i pmen tro ta te s ar o und Jo i n t l ,Join t2a nd Join t 3 r e s p e e tiv el 扒In aeeo rd an ee 側th the ro bo t theo ry, t h ereare man yme thodsw h ieh canbe u s ed to s e t u P al i nkcoo r dinat e s y s t e mfor s t ud 如雌 the disPlaeetn entrelationship ame ng these links. A m ong thes eme tha ds, t h e mo s t w i de l y us ed 15 t h e 壓na vit-Hartenberg族thod(n H Methed ) , whe r eb y。 44 h o m o g e n eo u s t ra n s formatio nrnatri x 15 u s ed tod e s e r ib e t h e s p a tia l r e la tio n s h iP b e t w e n 2 adj ac e n tlin k s a n d th e n a n e qu iv a le n t h omog eneou st ra n s fo r r n a ti o nmat rix 15 d e r iv e d to de term in e th er e f e r e n e e eo rd ina te s y s te m fo r b u ck e t t e th . T h er e la tiv e 卯sition relationship betwe n link 1and link1-1 ean be des eribed by a 4X4 ho m ogeneo usco ordina testransfo rma tion tna trix A a s fo l lo w s .陰二 O 二 a 二 P二。 二 二 “ n, O , a 、P、” 工 一A ,A,A,A, 一 一少 一 y 一, 了 , ( 2) n二 。: a 二P二Lo 0 0 IJT he t r a nsfonat i o nmat ri x 0T.r e pres e n t s the 卯seofbueket te th, 5cordi na te s y s t em ( 4 r ela tiv e t oi ts refr enceeord inate s y s t em 0 ,na mel y t hekin e lr 巴tica l eq u atio n o f b u ek et.C 滋rr如ng out traj eetory planning and traj ec toryco ntr ol fo r wo rking equipm ent of exca vator m ea nsto co ntro l the relative angle of boom , a r m a n dbucke t.A f t er t hemovin g t raje e t o r y of bu eke t t e e th15 P r e- s e t , the ang le60of eaeh join t a t star tpo in tan dt h e a 雌le 6j of ea eh jointat sto p point ca n bedetem lined by so lvi 眼 the inverse kinema tiealeq ua tion of worki呢 equipment, a n d t h e n t h emovin g t raje c t ory canbere Pr e s e n t ed b ya s r n o o thin t e 耳沁lati呀 func tion s(t).In the co urse ofrea l-tim e co ntro l, t he s e n s o r sw i l lm easure the a 呀ular displaeem ent of eaeh ioint inthe working 叫uipm ent, a n d t h econ t r ol le rw i l lco m P are the angula rd is Pla e eme n t a e q uir ed wi t h t hep r e-setta 飽et value and then dete蒯nethedrivingarOOunton thebasisoftheresultofcaleulation.Th erefore, t h e work in g e q ui p me n tw i l lmov e alo n gt h e P