Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Excavator flat ground control system and control method
The invention discloses a flat ground control system and method for an excavator. The control system comprises a signal input system, a flat ground calculation control system and a flat ground execution system. The control method comprises the steps that real-time angle data of the working device are obtained through the main controller, and the real-time stroke and the real-time telescopic speed of the oil cylinder are calculated; calculating the position of a shovel point, and real-time target angles and target angular accelerations of a movable arm, a bucket rod and a bucket; the target stroke and the target telescopic speed of the corresponding oil cylinder are calculated; the basic current of the pilot electromagnetic valve corresponding to the target telescopic speed of the oil cylinder is obtained; the rotational inertia of a hinge point of a working device around a movable arm and a rotary table and the frictional resistance of the hinge point at any moment are calculated through simulation of the upper computer, and secondary current is obtained through calculation of basic current; pID compensation is conducted on the stroke deviation of the oil cylinder, the output current of the pilot electromagnetic valve is obtained, and meanwhile the flow and the current needed by a main pump are calculated; the pilot solenoid valve controls the flow according to the magnitude of the current and further controls the stretching speed of the oil cylinder to complete the leveling action.
本发明公开了一种挖掘机平地控制系统及控制方法，控制系统包括信号输入系统、平地计算控制系统和平地执行系统；本发明的控制方法为：通过主控制器获取工作装置的实时角度数据，计算油缸的实时行程和实时伸缩速度；计算出铲尖的位置，以及动臂、斗杆和铲斗的实时目标角度和目标角加速度；计算出对应油缸的目标行程和目标伸缩速度；得出油缸目标伸缩速度对应的先导电磁阀的基础电流；通过上位机仿真计算出在任意时刻下工作装置绕动臂与转台铰点的转动惯量和铰点的摩擦阻力，对基础电流计算得到二次电流；对油缸的行程偏差进行PID补偿，得到先导电磁阀的输出电流，同时计算出主泵所需的流量和电流；先导电磁阀根据电流大小控制流量，进而控制油缸的伸缩速度，完成平地动作。
Excavator flat ground control system and control method
The invention discloses a flat ground control system and method for an excavator. The control system comprises a signal input system, a flat ground calculation control system and a flat ground execution system. The control method comprises the steps that real-time angle data of the working device are obtained through the main controller, and the real-time stroke and the real-time telescopic speed of the oil cylinder are calculated; calculating the position of a shovel point, and real-time target angles and target angular accelerations of a movable arm, a bucket rod and a bucket; the target stroke and the target telescopic speed of the corresponding oil cylinder are calculated; the basic current of the pilot electromagnetic valve corresponding to the target telescopic speed of the oil cylinder is obtained; the rotational inertia of a hinge point of a working device around a movable arm and a rotary table and the frictional resistance of the hinge point at any moment are calculated through simulation of the upper computer, and secondary current is obtained through calculation of basic current; pID compensation is conducted on the stroke deviation of the oil cylinder, the output current of the pilot electromagnetic valve is obtained, and meanwhile the flow and the current needed by a main pump are calculated; the pilot solenoid valve controls the flow according to the magnitude of the current and further controls the stretching speed of the oil cylinder to complete the leveling action.
本发明公开了一种挖掘机平地控制系统及控制方法，控制系统包括信号输入系统、平地计算控制系统和平地执行系统；本发明的控制方法为：通过主控制器获取工作装置的实时角度数据，计算油缸的实时行程和实时伸缩速度；计算出铲尖的位置，以及动臂、斗杆和铲斗的实时目标角度和目标角加速度；计算出对应油缸的目标行程和目标伸缩速度；得出油缸目标伸缩速度对应的先导电磁阀的基础电流；通过上位机仿真计算出在任意时刻下工作装置绕动臂与转台铰点的转动惯量和铰点的摩擦阻力，对基础电流计算得到二次电流；对油缸的行程偏差进行PID补偿，得到先导电磁阀的输出电流，同时计算出主泵所需的流量和电流；先导电磁阀根据电流大小控制流量，进而控制油缸的伸缩速度，完成平地动作。
Excavator flat ground control system and control method
一种挖掘机平地控制系统及控制方法
LIN XIANGWEI (Autor:in) / NIU DONGDONG (Autor:in) / XING ZECHENG (Autor:in) / WANG DUNKUN (Autor:in) / WEI HONGMIN (Autor:in) / YIN XUEFENG (Autor:in)
14.11.2023
Patent
Elektronische Ressource
Chinesisch
IPC:
E02F
Baggern
,
DREDGING
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