进出口独立复合控制挖掘机的动臂速度位置特性

为适应工程机械智能化作业和高质量作业的发展要求，在泵阀复合控制和进出口独立控制原理的基础上，提出一种基于模式切换的动臂升降速度和位置复合控制策略.根据设定的目标位置和运行速度，设计期望的运行轨迹.采用提出的控制策略，使动臂作业过程按预期轨迹运行，并使动臂在接近目标位置时精确定位.在充分利用进出口独立控制系统节能特性的基础上，实现速度位置的复合控制.建立机电液联合仿真模型，分析控制策略的可行性并预测参数，进一步构建试验测试系统并进行试验研究.结果表明，动臂可以按照设定的轨迹平稳运行并实现高精度定位.本研究可为工程机械的自动化作业和高质量作业提供参考.
Abstract: A novel velocity and position compound control strategy of boom lifing and dropping based on mode switching was proposed according to the principle of separate meter-in and meter-out and pump/valve hybrid control, in order to adapt to the development requirement of intelligent operation and high quality operation of engineering machinery. The expected operating trajectory was designed in accordance with the requirement of target position and running velocity. With the control strategy, the boom moved to the target position along the designed trajectory with accurate positioning. On the basis of making full use of the energy saving characteristics of the seperate meter-in and meter-out control system, the compound control of the velocity and position was realized. A joint simulation model of mechanical structure and hydraulic was established to analyze the feasibility of the strategy and to predict relevant parameters. Then, the test system was further established and relevant experimental research was carried out. The test results show that the boom can operate smoothly along the preset trajectory and the positioning accuracy is high by using the proposed strategy. This investigation can provide some reference for automatic operation and high quality operation of mobile machinery.