液压挖掘机电液驱动系统的数学模型研究及参数估计

液压挖掘机是一种机电液相结合的复杂工程机械，随着社会的不断进步，工程机械的机器人化已是大势所趋，但其液压系统的动态特性是强非线性的，难于实现对其精确控制。因此对其电液驱动模型进行系统研究，尤其是对非对称单杆液压油缸驱动机构研究是至关重要的。本文对挖掘机器人的液压驱动系统进行了详细的研究，并利用空间状态方程建立其数学模型，为非对称单杆液压油缸控制系统的控制策略选择和控制器设计提供了理论基础。

Model Research and its Parameter Evaluation for Electrical-hydraulic Controlling System of Excavator

Hydraulic excavator is a typical and complicated construction machine. With the development ot society, the automation of construction machine must be a necessary trend. But the hydraulic controlling system is of great nonlinear and is hard to control accurately. So it is of great importance to research the mechanical and electrical driving system, especially the unsymmetrical actuators. The hydraulic driving system of excavators was researched and its controlling model based on the state equations was presented, which makes a foundation for its controlling principle and designing of the controller.