| 装药台车工作装置末端轨迹控制研究 |
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| 引用本文： | 陈欠根,黄翠翠,周烜亦,汪志杰,边国敏.装药台车工作装置末端轨迹控制研究[J].矿山机械,2016(12). |
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| 作者姓名： | 陈欠根 黄翠翠 周烜亦 汪志杰 边国敏 |
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| 作者单位： | 1. 中南大学高性能复杂制造国家重点试验室 湖南长沙 410083; 山河智能装备股份有限公司国家级企业技术中心 湖南长沙 410100;2. 中南大学高性能复杂制造国家重点试验室 湖南长沙 410083;3. 山河智能装备股份有限公司国家级企业技术中心 湖南长沙 410100 |
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| 摘 要： | 以某型号的装药台车工作装置为研究对象,通过对其进行动力学分析,建立阀控液压缸数学模型,并结合工作装置的实际工作特点,提出了一种基于动力学补偿的轨迹控制方法。采用该控制方法,在MATLAB/Simulink软件中进行工作负载下的控制仿真,并将常规PID控制和基于动力学补偿PID控制进行了对比。仿真结果表明,基于动力学补偿的控制方法动态控制性能更好,该控制方法对于工作装置控制系统的性能提高具有理论意义。
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| 关 键 词： | 轨迹控制 动力学补偿 Simulink 仿真 装药台车 |
Research on trajectory control of end of working device of explosive charging vehicle |
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| Abstract: | Taking the working device of a certain explosive charging vehicle as the research object, dynamic analysis of the working device was conducted, and mathematical model of the valve-controlled cylinder was established. In addition, in combination with actual characteristics of the working device, a trajectory control method based on dynamic compensation was proposed. And then, simulation in loading mode was conducted with the proposed control method in MATLAB/Simulink, and the conventional PID control was contrasted with the PID control based on dynamic compensation. The simulation results showed the PID control method based on dynamic compensation was superior in the dynamic control performance. The control method possessed theoretical signiifcance for improving the performance of the control system of the working device. |
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| Keywords: | trajectory control dynamic compensation Simulink simulation explosive charging vehicle |
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