中文摘要：

为实现挖掘机回转和工作装置的轨迹跟踪控制,建立挖掘机回转和工作装置的4自由度运动学和拉格朗日动力学方程。挖掘机工作装置具有明显的非线性和不确定性特征,并存在外部干扰,所以将滑模变结构理论用于其控制系统。针对滑模控制的抖振可能激活高频动态和破坏控制器部件的缺点,设计自适应模糊滑模控制器。控制规则包括3部分：等效控制、调整控制和切换控制。利用自适应模糊系统输出动态调节切换增益以逼近系统不确定性的上界,将滑模控制的切换项转化为连续的模糊输出,削弱了滑模控制的抖振现象,并且有较强的自适应跟踪能力。针对一个完整的挖掘卸料过程,将所设计的控制器用于仿真试验,给出自适应模糊滑模控制的跟踪性能及控制输入的效果。

英文摘要：

To realize the trajectory tracking control of the excavator rotation and working device,the 4-DOF kinematics and Lagrangian dynamics equation of the excavator rotation and working device is established. The excavator＇s working device has obvious nonlinear,uncertainty characteristics and external disturbance,so the sliding mode variable structure theory is introduced into the control system. In view of the fact that the chattering of the sliding mode control may activate high frequency dynamic and damage controller components,an adaptive fuzzy sliding mode control is designed. The control law consists of three parts：Equivalent control,adjustment control and switching control. The switching gain is adjusted by using the adaptive fuzzy system outputs to approach the upper bound of the system uncertainty,so the switching control becomes continuous,the chattering is alleviated and the control system has strong adaptive tracking capability. Aiming at a whole dig-unloading process,the developed controller is employed in simulation test,the tracking performance of adaptive fuzzy sliding mode control and the effect of control input are presented.