Please wait a minute...
浙江大学学报(工学版)  2017, Vol. 51 Issue (9): 1797-1807    DOI: 10.3785/j.issn.1008-973X.2017.09.014
机械工程     
进出口独立复合控制挖掘机的动臂速度位置特性
师建鹏, 权龙, 张晓刚, 熊晓燕
太原理工大学 新型传感器与智能控制教育部和山西省重点实验室, 山西 太原 030024
Velocity and position characteristics of excavator's boom by separate meter-in and meter-out compound control
SHI Jian-peng, QUAN Long, ZHANG Xiao-gang, XIONG Xiao-yan
Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education and Shanxi Province, Taiyuan University of Technology, Taiyuan 030024, China
 全文: PDF(3864 KB)   HTML
摘要:

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.

收稿日期: 2017-03-02 出版日期: 2017-08-25
CLC:  TH137  
基金资助:

NSFC-山西省煤基低碳联合基金资助项目(U1510206);国家自然科学基金资助项目(51575374);国家科技支撑计划资助项目(2014BAF08B06).

通讯作者: 权龙,男,教授.orcid.org/0000-0001-8148-1771.     E-mail: quanlong@tyut.edu.cn
作者简介: 师建鹏(1994-),男,硕士生,从事电液比例控制技术研究.orcid.org/0000-0002-2871-4043.E-mail:shijianpeng_tyut@163.com
服务  
把本文推荐给朋友
加入引用管理器
E-mail Alert
作者相关文章  

引用本文:

师建鹏, 权龙, 张晓刚, 熊晓燕. 进出口独立复合控制挖掘机的动臂速度位置特性[J]. 浙江大学学报(工学版), 2017, 51(9): 1797-1807.

SHI Jian-peng, QUAN Long, ZHANG Xiao-gang, XIONG Xiao-yan. Velocity and position characteristics of excavator's boom by separate meter-in and meter-out compound control. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(9): 1797-1807.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2017.09.014        http://www.zjujournals.com/eng/CN/Y2017/V51/I9/1797

[1] ANDERSSON B. Hydraulic valve means:4662601[P]. 1987-05-05.
[2] BACKÉ W. Design systematics and perforence of cartridge valve controls[C]//Proceedings of International Conference on Fluid Power. Tampere:ICFP,1987:1-48.
[3] YAO B,CHRIS D. Energy-saving adaptive robust motion control of single-rod hydraulic cylinders with programmable valves[C]//Proceedings of the American Control Conference.Anchorage:IEEE, 2002:4819-4824.
[4] YAO B, LIU S. Energy-saving control of hydraulic sys-tems with novel programmable valves[C]//Proceedings of the 4th World Congress on Intelligent Control and Automation. Shanghai:IEEE, 2002:81-91.
[5] TROXEL N A,YAO B. Hydraulic cylinder velocity control with energy recovery:a comparative simulation study[C]//ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. Arlington:ASME, 2011:169-176.
[6] SHENOUDA A. Quasi-static hydraulic control systems and energy savings potential using independent metering four-valve assembly configuration[D]. Atlanta:Georgia Institute of Technology, 2006.
[7] ERIKSSON B. Control strategy for energy efficient fluid power actuators utilizing individual metering[D]. Linköping:Linköping University, 2007.
[8] ERIKSSON B. Mobile fluid power systems design:with a focus on energy efficiency[D]. Link ping:Link ping University, 2010.
[9] SITTE A,WEBER J. Structural design of independent metering control systems[C]//The 13th Scandinavian International Conference on Fluid Power. Link ping:SICFP, 2013:261-270.
[10] SITTE A,BECK B,WEBER J. Design of independent metering control system[C]//9th International Fluid Power Conference. Aachen:IFK, 2014:428-441.
[11] LUBBERT J,SITTE A,WEBER J. Pressure compensator control:a novel independent metering architecture[C]//10th International Fluid Power Conference. Dresden:IFK, 2016:231-245.
[12] 权龙,冯克温,陈青.泵阀复合流量匹配进出油口独立控制电液系统:200710062517.3[P].2008-01-23.
[13] 董致新,黄伟男,葛磊,等.泵阀复合进出口独立控制液压挖掘机特性研究[J].机械工程学报,2016,52(12):173-180. DONG Zhi-xin, HUANG Wei-nan, GE Lei, et al. Research on the performance of hydraulic excavator with pump and valve combined separate meter in and meter out circuits[J]. Chinese Journal of Mechanical Engineering,2016,52(12):173-180.
[14] 黄伟男,权龙,黄家海,等.进出口独立控制液压挖掘机回转系统运行特性[J].机械工程学报,2016,52(20):159-167. HUANG Wei-nan, QUAN Long, HUANG Jia-hai, et al. Excavator swing system controlled with separate meter-in and meter-out method[J]. Chinese Journal of Mechanical Engineering,2016,52(20):159-167.
[15] 徐兵,丁孺琦,张军辉. 基于泵阀联合控制的负载口独立系统试验研究[J]. 浙江大学学报:工学版,2015,49(1):93-101. XU Bing, DING Ru-qi, ZHANG Jun-hui.Experiment research on individual metering systems of mobile machinery based on coordinate control of pump and valves[J]. Journal of Zhejiang University:Engineering Science,2015,49(1):93-101.
[16] 刘英杰,徐兵,杨华勇,等.电液比例负载口独立控制系统压力流量控制策略[J].农业机械学报,2010,41(5):182-187. LIU Ying-jie, XU Bing, YANG Hua-yong, et al.Strategy for flow and pressure control of electro hydraulic proportional separate meter in and separate meter out control system[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(5):182-187.
[17] 丁孺琦,徐兵,张军辉,等.负载口独立控制挖掘机机液耦合模型建立与试验[J].农业机械学报,2016,47(4):309-318. DING Ru-qi,XU Bing, ZHANG Jun-hui,et al. Mechanical-hydraulic coupling model of independent metering control excavator and its test verification[J]. Transactions of the Chinese Society for Agricultural Machinery,2016, 47(4):309-31.
[18] 刘禹廷.负载口独立挖掘机的智能控制系统研究[D].杭州:浙江大学,2016. LIU Yu-ting. Research on intelligent control system for excavator with independent metering[D]. Hangzhou:Zhejiang University, 2016.
[19] 赵鑫.智能挖掘机轨迹控制研究[D].长沙:中南大学,2012. ZHAO Xin. Trajectory control of new intelligent excavator[D]. Changsha:Central South University,2012.
[20] 李洪人,王栋梁,李春萍.非对称缸电液伺服系统的静态特性分析[J].机械工程学报,2003,39(2):18-22. LI Hong-ren,WANG Dong-liang, LI Chun-ping. Static property analysis of electrohydraulic single rod cylinder servo systems[J]. Chinese Journal of Mechanical Engineering,2003,39(2):18-22.

[1] 黄梓亮, 欧阳小平, 赵天菲, 张建波, 周亮, 杨华勇. 飞机液压含气量检测系统特性[J]. 浙江大学学报(工学版), 2019, 53(1): 158-165.
[2] 魏建华, 孙春耕, 方锦辉, 王刚. 复合材料成形液压机自适应鲁棒运动控制[J]. 浙江大学学报(工学版), 2018, 52(5): 925-933.
[3] 王超, 龚国芳, 杨华勇, 周建军, 段理文, 张亚坤. NSVR硬岩隧道掘进机刀盘扭矩预测分析[J]. 浙江大学学报(工学版), 2018, 52(3): 479-486.
[4] 钟麒, 张斌, 洪昊岑, 杨华勇. 基于电流反馈的高速开关阀3电压激励控制策略[J]. 浙江大学学报(工学版), 2018, 52(1): 8-15.
[5] 孙伟, 杜家楠, 王林涛, 马宏辉. 盾构管片拼装机电液系统高速-低冲击控制方法[J]. 浙江大学学报(工学版), 2017, 51(10): 1948-1958.
[6] 郭凡, 魏建华, 张强, 熊义. 基于级联控制器的液压机位移/压力复合控制[J]. 浙江大学学报(工学版), 2017, 51(10): 1937-1947.
[7] 欧阳小平, 刘玉龙, 薛志全, 郭生荣, 周清和, 杨华勇. null[J]. 浙江大学学报(工学版), 2017, 51(7): 1361-1367.
[8] 任好玲, 谢海波, 杨华勇, 等. 单组元液压自由活塞发动机关键技术[J]. J4, 2009, 43(5): 872-876.