挖掘装载机工作装置运动特性分析及控制

针对挖掘装载机多路阀阀口流量控制稳定性不够、导致整机工作效率不高的问题,建立多路阀电液比例控制系统模型,实现挖掘装载机多路阀流量智能调控。基于D-H原理实现装载工作装置运动学和动力学分析;运用MATLAB/Simulink建立装载工作装置的机电液耦合仿真模型;设计PID控制算法实现液压多路阀口流量智能控制,提高装载工作装置运动精度和控制效果。仿真结果表明:基于Simulink平台能够准确高效建立复杂系统机电液联合仿真模型,满足铲斗的平移性和装载工作装置定角度运动的要求。

Analysis and Control of Movement Characteristics of Working Machine of Backhoe Loader

In view of the insufficient stability of the flow control of the multi-way valve port of the excavator loader and the low work efficiency of the whole machine, the multi-valve electro-hydraulic proportional control model was established to realize the intelligent regulation of the multi-way valve flow of the excavator loader. Based on the DH principle, the loading work device kinematics and dynamics analyses were done.The electromechanical-hydraulic coupling simulation model of the loading work device was established by using MATLAB/Simulink.Finally, the PID control algorithm was designed to realize the hydraulic multi port valve port flow intelligent control to improve the movement accuracy and control effect of the loading work device. The simulation results show that the Simulink platform can be used to accurately and efficiently establish the electromechanical-hydraulic joint simulation model of complex system. It meets the requirements of the shifting performance of the bucket and the fixed angle motion of the loading working device.