本文選題：挖掘機回轉液壓系統(tǒng) + 負載口獨立控制技術��； 參考：《太原科技大學》2017年碩士論文

【摘要】：隨著現(xiàn)代液壓技術的不斷發(fā)展,精確控制成為液壓技術研究的重點。負載口獨立控制技術打破了執(zhí)行器進、出口耦合控制的約束,可實現(xiàn)對執(zhí)行器更加精確的控制。本文結合挖掘機回轉液壓系統(tǒng)的工況特點,研究分析了負載口獨立方向閥的動態(tài)響應特性,在此基礎上建立了基于負載口獨立技術挖掘機回轉液壓系統(tǒng)的控制策略,最終分析其控制效果。本文首先對回轉系統(tǒng)目前存在的不足進行了分析。挖掘機回轉系統(tǒng)作為最大的慣性負載子系統(tǒng),在回轉過程中存在啟動較慢、制動平穩(wěn)性差的問題,并參閱了大量國內外有關負載口獨立控制技術的文獻,發(fā)現(xiàn)該控制技術的控制理念與回轉系統(tǒng)分段控制過程特別吻合。確定了將負載口獨立控制技術應用到挖掘機回轉液壓系統(tǒng)的方案。其次,挖掘機回轉運動過程中,對回轉平臺的運動規(guī)律進行了歸納,利用D—H坐標系法對挖掘機回轉平臺的轉動慣量做了理論推導。針對開中心挖掘機液壓系統(tǒng),建立液壓動力元件閥控回轉馬達方塊圖和動態(tài)特性的數(shù)學描述,對挖掘機回轉液壓系統(tǒng)進行理論分析,分析表明回轉過程中回轉平臺啟動較慢、制動平穩(wěn)性差的一個主要原因是:對執(zhí)行器的進、出油口的控制存在耦合關系。隨后,依據(jù)基于負載口獨立技術挖掘機回轉液壓系統(tǒng),建立該系統(tǒng)中主要元件的Simhydraulics仿真模型,其中包括恒功率泵、回轉馬達、負載口獨立方向閥。著重闡述了負載口獨立方向閥的結構和原理,根據(jù)其結構和原理建立了該閥的數(shù)學模型,依據(jù)仿真模型對該閥的動態(tài)特性進行了仿真分析,分別改變該閥主閥芯質量、主閥彈簧剛度、主閥有效作用面積,分析不同參數(shù)對閥動態(tài)響應的影響,最終確立主閥的主要參數(shù)。最后,根據(jù)執(zhí)行器負載和運行速度方向劃分了不同的工作模式,在此基礎上將挖掘機回轉液壓系統(tǒng)歸類于阻抗伸出模式并建立了與之相適應的控制策略,即執(zhí)行器進油口采用計算流量反饋控制策略,出口采用計算壓力控制策略。建立Matlab/Simhydraulics仿真模型,并對其進行了仿真分析,結果表明基于負載口獨立技術挖掘機回轉液壓系統(tǒng)能在很大程度上解決回轉平臺啟動慢、制動穩(wěn)定性差的問題。
[Abstract]:With the development of modern hydraulic technology, precise control has become the focus of hydraulic technology research. The load port independent control technology breaks the constraint of the actuator in and out coupling control and can achieve more accurate control of the actuator. Based on the characteristics of hydraulic rotary hydraulic system of excavator, this paper studies and analyzes the dynamic response characteristics of independent directional valve with load port, and establishes the control strategy of rotary hydraulic system of excavator based on independent technology of load port. Finally, the control effect is analyzed. In this paper, the shortcomings of the rotary system are analyzed. As the largest inertial load subsystem, the rotary system of excavator has the problems of slow starting and poor braking stability in the process of rotation, and reference is made to a large number of literatures on independent control technology of load port at home and abroad. It is found that the control idea of the control technology is in good agreement with the piecewise control process of the rotary system. The scheme of applying independent control technology of load port to rotary hydraulic system of excavator is determined. Secondly, in the process of rotary motion of excavator, the motion law of rotary platform is summarized, and the moment of inertia of rotary platform of excavator is deduced theoretically by using D-H coordinate system method. Aiming at the hydraulic system of open-center excavator, the block diagram and dynamic characteristic of hydraulic power element valve controlled rotary motor are established. The theoretical analysis of hydraulic system of rotary hydraulic system of excavator shows that the rotary platform starts slowly in the process of rotary. One of the main reasons for the poor braking stability is the coupling relationship between the control of the actuator and the oil outlet. Then, according to the rotary hydraulic system of excavator based on the independent technology of load port, the Simhydraulics simulation model of the main components of the system is established, including constant power pump, rotary motor and independent directional valve of load port. The structure and principle of the independent directional valve with load port are expounded emphatically. The mathematical model of the valve is established according to its structure and principle. The dynamic characteristics of the valve are simulated and analyzed according to the simulation model, and the quality of the main valve core is changed respectively. The spring stiffness of the main valve, the effective area of the main valve, and the influence of different parameters on the dynamic response of the valve are analyzed, and the main parameters of the main valve are finally established. Finally, according to the load and speed direction of the actuator, different working modes are divided. On this basis, the rotary hydraulic system of the excavator is classified into the impedance extension mode and the corresponding control strategy is established. That is, the actuator inlet adopts the computational flow feedback control strategy, and the outlet adopts the calculated pressure control strategy. The simulation model of Matlab/Simhydraulics is established and analyzed. The results show that the rotary hydraulic system of excavator based on load port independent technology can solve the problems of slow starting and poor braking stability of rotary platform to a great extent.
【學位授予單位】：太原科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TU621

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