發(fā)布時間：2019-03-28 17:17

【摘要】：為適應工程機械智能化作業(yè)和高質(zhì)量作業(yè)的發(fā)展要求,在泵閥復合控制和進出口獨立控制原理的基礎上,提出一種基于模式切換的動臂升降速度和位置復合控制策略.根據(jù)設定的目標位置和運行速度,設計期望的運行軌跡.采用提出的控制策略,使動臂作業(yè)過程按預期軌跡運行,并使動臂在接近目標位置時精確定位.在充分利用進出口獨立控制系統(tǒng)節(jié)能特性的基礎上,實現(xiàn)速度位置的復合控制.建立機電液聯(lián)合仿真模型,分析控制策略的可行性并預測參數(shù),進一步構建試驗測試系統(tǒng)并進行試驗研究.結果表明,動臂可以按照設定的軌跡平穩(wěn)運行并實現(xiàn)高精度定位.本研究可為工程機械的自動化作業(yè)和高質(zhì)量作業(yè)提供參考.
[Abstract]:In order to meet the requirements of intelligent operation and high quality operation of construction machinery, based on the principle of pump valve compound control and independent control of inlet and outlet, a combined control strategy of lifting speed and position of boom based on mode switching is proposed. According to the target position and running speed, the desired trajectory is designed. The proposed control strategy enables the working process of the boom to run according to the expected trajectory, and enables the boom to locate precisely when the position is close to the target. On the basis of making full use of the energy-saving characteristics of the independent control system of import and export, the compound control of velocity position is realized. The mechanical-electro-hydraulic simulation model is established, the feasibility of the control strategy is analyzed and the parameters are predicted, and the test system is further constructed and the test study is carried out. The results show that the moving arm can run smoothly according to the set trajectory and realize high precision positioning. This study can provide reference for automatic operation and high quality operation of construction machinery.
【作者單位】： 太原理工大學新型傳感器與智能控制教育部和山西省重點實驗室;
【基金】：NSFC-山西省煤基低碳聯(lián)合基金資助項目(U1510206) 國家自然科學基金資助項目(51575374)
【分類號】：TU621

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1 宋德玉;鄒鳳樓;吳瑞明;;掘進機電液推進系統(tǒng)控制地表沉降的研究[A];第二十七屆中國控制會議論文集[C];2008年

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