Shoveling Trajectory Tracking Control of Loader Working Mechanism

Autonomous shoveling of loaders is the key technology to realize automatic and intelligent operation. Tracking control for target trajectory during shoveling is one of its core technologies. The actual motion trajectory of bucket in the pile directly affects the production, resistance force and energy consumption of the shoveling operation, so it is of great significance to achieve high-precision tracking control. Traditional PID control method has problems such as overshoot. To solve these problems, this paper first establishes a kinematic model of the working mechanism in drive space, then introduces the preview control method, combines PID with preview control, and designs a PID controller with preview distance based on kinematic decoupling, which improves the control performance by judging the future trajectory information in advance. The ADAMS/Simulink co-simulation shows that compared with traditional PID, the PID controller with preview distance improves the overshoot of bucket during steering and reduces the displacement error and angle error of bucket during tracking. Therefore, PID control with preview distance can comprehensively improve the control performance of traditional PID. In addition, it is found that how to choose a suitable preview distance is also a key factor to be considered in future work.