遥控型推耙机液压控制技术研究及应用
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摘要
随着无线电控制系统和电液控制系统的技术发展和功能完善，遥控型工程机械应用范围将越来越广泛，遥控型推耙机通过电磁波传输控制信号并将控制信号送入驱动执行器—电液比例控制系统以实现远距离控制。本文对工程机械上应用的电液控制原理进行了分析；对电液比例阀的工作原理和应用特点进行了深入研究；重点对电液比例减压阀和电液比例方向阀技术特征和静态特性进行分析研究；建立电液比例控制模型；提出了在同一台工程机械上，既能满足遥控又能满足手控的液压回路，以及采用比例量控制行驶和工作装置的液压系统设计方法。本文分析介绍了TB80K遥控型推耙机控制系统组成、无线遥控信号的传输机理、遥控系统工作原理、各动作实现方式。本文阐述了TB80K推耙机液压系统的基本原理；对电液比例控制变速箱换档在各档之间切换的接合压力变化过程进行试验分析研究；应用电液比例控制理论，结合TB80K推耙机液压系统结构特点进行遥控液压控制系统研究和设计，并提出了多种电液改造方案和设想。本文中电液控制理论和设计方法可以应用于其它工程机械遥控系统电液改造，对将来工程机械发展、提高工程机械技术含量将有重要意义。
Remote control construction machinery will be more and more widely used along with development of technique and perfection of function of wireless control system and electro-hydraulic control system. The remote controlled trimming dozer is remotely controlled by signal that is transferred by electromagnetic wave and sent into driver-electro-hydraulic control system. Electro-hydraulic control principle applied in construction machinery is analyzed in this paper; working principle and application characteristic of electro-hydraulic proportional is lucubrated; Technique and static characteristic of electro-hydraulic proportional decompression value and electro-hydraulic proportional direction value is emphatically analyzed and studied; Electro-hydraulic proportional control mode is setup. The hydraulic circuit which can be not only suit for handle operation but also for remote operation in the same construction machinery, and the hydraulic system design methods is also introduced that the proportion control use
d for the steering devices and the working devices of the machine. The constitution of TB80K remote controlled trimming dozer, transmission mechanism of wireless remote control signals, working principle of remote control system, carrying out mode of every action are introduced in this paper. The basic principle of hydraulic system of TB80K trimming is set forth. The changing process of engaging pressure is analyzed and studied, the engaging pressure is produced in transmission controlled by electro-hydraulic proportion when shift gear is switched; The hydraulic control system used in remote control is studied and designed applied with electro-hydraulic proportional control theory and on the basic of the hydraulic characteristic of TB80K trimming dozer, more and more electro-hydraulic reform projects and assumption are present. The electro-hydraulic control theory and design methods can be used in other construction machinery when electro-hydraulic reformed in remote control system. It is of importance as to
the development of construction machinery in the future and technique content improved in construction machinery.
Remote control construction machinery will be more and more widely used along with development of technique and perfection of function of wireless control system and electro-hydraulic control system. The remote controlled trimming dozer is remotely controlled by signal that is transferred by electromagnetic wave and sent into driver-electro-hydraulic control system. Electro-hydraulic control principle applied in construction machinery is analyzed in this paper; working principle and application characteristic of electro-hydraulic proportional is lucubrated; Technique and static characteristic of electro-hydraulic proportional decompression value and electro-hydraulic proportional direction value is emphatically analyzed and studied; Electro-hydraulic proportional control mode is setup. The hydraulic circuit which can be not only suit for handle operation but also for remote operation in the same construction machinery, and the hydraulic system design methods is also introduced that the proportion control use
d for the steering devices and the working devices of the machine. The constitution of TB80K remote controlled trimming dozer, transmission mechanism of wireless remote control signals, working principle of remote control system, carrying out mode of every action are introduced in this paper. The basic principle of hydraulic system of TB80K trimming is set forth. The changing process of engaging pressure is analyzed and studied, the engaging pressure is produced in transmission controlled by electro-hydraulic proportion when shift gear is switched; The hydraulic control system used in remote control is studied and designed applied with electro-hydraulic proportional control theory and on the basic of the hydraulic characteristic of TB80K trimming dozer, more and more electro-hydraulic reform projects and assumption are present. The electro-hydraulic control theory and design methods can be used in other construction machinery when electro-hydraulic reformed in remote control system. It is of importance as to
the development of construction machinery in the future and technique content improved in construction machinery.
引文
1、交通部水运科学研究所，山东推士机总厂．TB70型推耙机研制研究报告 1991：1-10
2、何继挺．工程施工机械的自动化与无人化，筑路机械与施工机械化，1997(14)：20-30
3、山东理工大学工程机械研究所，工程车辆遥控驾驶技术研究．2001：2-14
4、吴根茂等．实用电液比例技术，浙江大学出版社，1993：2-194
5、梁国文．机电一体化在工程机械上的应用与发展，建筑机械 1999(8)
6、成大先主编．机械设计手册，第四版，第四卷，化学工业出版社，2002：第18．篇3-235
7、黎启柏．电液比例控制与数字控制，机械工业出版社，1997：10-80
8、李友善．自动控制理论，国防工业出版社，1989：15-45
9、雷天觉．液压工程手册，北京理工大学出版社，1998：1223-1300
10、李素玲、刘军营．比例控制与比例阀及应用，2003．2液压与气动：30-32
11、Mike Osenga. Is The Future Here For Remote Controlled Equipment? Diesel Progress:Engines & Drives V55 n10 Oct.1989: 5-20
12、冯开林．工程机械电液比例阀的特点及其应用研究 2003．5 工程机械：40-42
13、R.T.Schneider. Mobile Equipment: Getting More User-Friendly, HYDRAULICS & PNEUMATICS, AUGUST 1998: 30-35
14、Minamoto. Tele-presence information and remote-controlled task execution, 1998: 15-31
15、宋占伟、闻邦椿．21世纪工程机械的发展趋势，建筑机械，1999(12)：5-16
16、刘蕴才等．遥测遥控系统，国防工业出版社，2000：8-12
17、FABER-COM. Hydraulic servo-cylindercalibration, 2000:5-10
18、刘春朝等．TB70 TBS70推耙机装修手册，1997：1-7
19、TECNORD. Electrohydraulic control shift-gear system, 2002:2-6
20、Moog. Safe and reliable Control, Annual report 1986.: 6-13
21、Sauer . Pressure and speed limits for Hydraulic units, section 2, 1997:7-14
22、冯开林、邹广德、高松．先进液压控制技术在工程机械的应用研究 2002．5工程机械：15-20
23、刘春朝等．TB80 TBS80推耙机使用维护说明书，2000
24、山推工程机械股份有限公司液力变矩器厂、山东工程学院工程机械研究所．TB80K遥控推耙机使用说明书，2003：6-13
2、何继挺．工程施工机械的自动化与无人化，筑路机械与施工机械化，1997(14)：20-30
3、山东理工大学工程机械研究所，工程车辆遥控驾驶技术研究．2001：2-14
4、吴根茂等．实用电液比例技术，浙江大学出版社，1993：2-194
5、梁国文．机电一体化在工程机械上的应用与发展，建筑机械 1999(8)
6、成大先主编．机械设计手册，第四版，第四卷，化学工业出版社，2002：第18．篇3-235
7、黎启柏．电液比例控制与数字控制，机械工业出版社，1997：10-80
8、李友善．自动控制理论，国防工业出版社，1989：15-45
9、雷天觉．液压工程手册，北京理工大学出版社，1998：1223-1300
10、李素玲、刘军营．比例控制与比例阀及应用，2003．2液压与气动：30-32
11、Mike Osenga. Is The Future Here For Remote Controlled Equipment? Diesel Progress:Engines & Drives V55 n10 Oct.1989: 5-20
12、冯开林．工程机械电液比例阀的特点及其应用研究 2003．5 工程机械：40-42
13、R.T.Schneider. Mobile Equipment: Getting More User-Friendly, HYDRAULICS & PNEUMATICS, AUGUST 1998: 30-35
14、Minamoto. Tele-presence information and remote-controlled task execution, 1998: 15-31
15、宋占伟、闻邦椿．21世纪工程机械的发展趋势，建筑机械，1999(12)：5-16
16、刘蕴才等．遥测遥控系统，国防工业出版社，2000：8-12
17、FABER-COM. Hydraulic servo-cylindercalibration, 2000:5-10
18、刘春朝等．TB70 TBS70推耙机装修手册，1997：1-7
19、TECNORD. Electrohydraulic control shift-gear system, 2002:2-6
20、Moog. Safe and reliable Control, Annual report 1986.: 6-13
21、Sauer . Pressure and speed limits for Hydraulic units, section 2, 1997:7-14
22、冯开林、邹广德、高松．先进液压控制技术在工程机械的应用研究 2002．5工程机械：15-20
23、刘春朝等．TB80 TBS80推耙机使用维护说明书，2000
24、山推工程机械股份有限公司液力变矩器厂、山东工程学院工程机械研究所．TB80K遥控推耙机使用说明书，2003：6-13