摘要
为了降低液压挖掘机进行精整作业时的手动操作难度,对某型液压挖掘机的工作装置进行了二自由度的动力学分析,建立了其动力学方程;通过测试试验,给出了控制阀死区补偿方法,PID参数设置方法和数值;并在上述参数下进行了仿真实验。结果表明,当铲斗末端跟踪的设定水平直线长度为2500 mm,铲斗水平跟踪速度为107 mm/s时,其精度可以控制在120mm之内,达到一般熟练工人的程度,证明了该控制方案是可行的。
To reduce the manipulation complexity of the hydraulic excavator in finishing work, a 2-degrees-offreedom dynamic analysis for the working mechanism of a hydraulic exeavator was performed, and its dynamic equation was established. A method for compensating the dead band of the control valves, the set of the PID control parameters and their selection were accomplished by experiments. A simulation of the excavator bucket control scheme was done under selected parameters. The simulated results show that the bucket tracking error was controlled within 120 mm when the horizontal linear tracking distance of the bucket end was set at 2500 mm and the horizontal tracking speed at 107 mm/s, achieving the precision of an average vetran operator, so the control scheme is applicable.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2005年第5期490-494,共5页
Journal of Jilin University:Engineering and Technology Edition
基金
"863"国家高技术研究发展计划项目(2003AA430200).
关键词
工程机械
液压挖掘机
动力学
轨迹跟踪
PID控制
试验研究
construction machinery
hydraulic excavator
dynamics
trajectory tracking
PID control
experimental research
