基于ADAMS和AMESim的挖掘机挖掘运动轨迹控制联合仿真

利用三维建模软件Pro/E建立了挖掘机工作机构模型,将其导入动力学分析软件ADAMS。在ADAMS中添加约束,设置了材料属性、工作载荷等,构建了挖掘机工作机构虚拟样机模型。采用仿真软件AMESim建立了挖掘机工作机构电液控制系统仿真模型。搭建了虚拟样机与电液控制系统的联合仿真模型,对挖掘机在典型挖掘工况下的运动轨迹控制进行了联合仿真,仿真结果表明:挖掘机3个工作液压缸的实际位移能较好地跟踪目标位移,实现了挖掘机运动轨迹的闭环控制,为后续的试验研究提供了理论基础。

Combined Simulation of Excavator Digging Motion Track Control Based on ADAMS and AMESim

The excavator working mechanism model was built by using 3D modeling software Pro/E, which was imported into the dynamic analysis software ADAMS. The virtual prototype model of the excavator working mechanism was constructed by adding constraints and setting material properties and working loads in ADAMS. The electro hydraulic control system simulation model of the excavator working mechanism was established by using simulation software AMESim. The combined simulation model of the virtual prototype and the electro hydraulic control system was built, and the trajectory control of the excavator under typical digging conditions was carried out. The combined simulation results show that the actual displacement of the three working hydraulic cylinders of the excavator can better track the target displacement, and closed loop control to the excavator trajectory was realized. It provides a theoretical basis for subsequent experimental research.