自平衡节能型挖掘机性能分析与协调控制
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摘要
对普通单斗挖掘机的工作装置稍加改造即可获得一种自平衡节能型单斗挖掘机。所谓自平衡是指当斗杆或动臂绕其枢轴转动时,工作装置的质心保持不变。因此,在作业过程中,工作装置的重力势能保持恒定,不消耗额外的机械能,既节省能量,又减少了液压系统的发热和回转轴承等处的动载荷。在机重相同的前提下,作业稳定性提高,可获得更大的作业半径或铲斗容量。这对改善挖掘机的性能、节省燃料有着非常重要的意义。
本文以拉挖式自平衡节能型挖掘机为研究对象,主要完成了下面两个方面的研究工作:
1)对自平衡节能型挖掘机工作装置的原理进行了分析,在此基础上对自平衡节能型挖掘机工作装置运动学和动力学进行了系统分析,并对挖掘机轨迹规划问题进行了研究。
2)对卷扬马达和斗杆油缸协调控制问题进行了研究,分析了卷扬马达和斗杆油缸协调控制的问题,并以此设计了实现协调控制的液压系统和电气控制系统。
由于挖掘机工作装置的结构及其工作方式与工业机器人相似,因此,可以将其作为一个工业机器人来进行研究。应用齐次坐标与齐次变换的概念和D-H法推导出了自平衡节能型挖掘机工作装置的运动学方程和动力学方程,应用矩阵代数来分析工作轨迹。
本文的研究成果可以用于自平衡节能型挖掘机工作装置的设计。
Apply high technology to transform traditional industries is the main directions of the further development of manufacturing, the wider use of robotics, computer technology and electronic information technology has become the main means of technological advances in many industry. Construction machinery industry is a typical representative. Therefore, the State 863 Project makes the engine robot research project as especially single topic. The other hand, with the further expansion of the scale of the project, the construction machinery has broad market demand and broad development prospects. However, the current domestic situation is: Domestic products are technologically backward, low competitiveness, foreign products have occupied the market seriously. How to improve the competitiveness of excavator products in the domestic market, protecting national industries, become one of the important tasks of scientific and technological workers, because of this, this paper is of special significance to the study.
A self-balanced and energy saving attachment of excavator can be obtained when a fixed bob-weight and a movable one are mounted behind the axle pin of the arm. The gravity potential energy of the attachment does not change while the excavator works. No extra mechanical energy is consumed by the attachment. Not only the energy is saved, but also the hot of the hydraulic oil and the dynamic force of the turning bearing are decreased. Using this attachment, the stableness of the excavator is increased with the same weight, so that a bigger working radius or a bigger bucket volume can be obtained. This has a very important significance to improve the performance of excavators and save fuel.
The paper mainly research self-balanced and energy saving attachment of excavator. The structure and working of excavator are like those of robot, so we may research excavator by looking it as reboticized excavator. We can get kinematics and kinetic equation of work equipment and work trace of roboticized excavato.It will improve the excavator's capabilities of the best trace layout, kinetics and so on.
The research as the following:
First. Excavators kinematic and dynamic analysis. First abstract excavator structure as a 1R-3P system, the rotary turntable from the base joints, boom relative to the turntable rotating joints, stick around the end of the rotating arm and bucket joint struggle around the end of the rod to the four degrees of freedom rotary joint robot model . D-H robot model used to establish law and D-H coordinates, analysis of the solution model of the robot kinematics and inverse kinematics problem. On this basis, solving the effective work of excavators. Finally,using Lagrange equations to fix the dynamic equations of the robot model.
Second. On the basis of establishing kinematic and dynamic model of excavator working device, introducing the concept of robot path planning, principles and methods used. Analyzing the three factors affecting the efficiency of excavator and excavator under the three different operations,level three is to investigate mining operations along the slope formation found in the pit trajectory control, after the discuss simulation results are given.
Third. Introducing the stick tank and the winch motor coordination and control of the basic tenets. Analyzing the process of stick tank and the winch motor coordination and using a hydraulic control system design. Analyzing the electro-hydraulic proportional valve and its characteristic curve and the direction of the dynamic characteristics of the hydraulic system.
Forth. According to the control process and the constitute of hydraulic system, design a reasonable hardware. Hardware include input channel signal processing circuit, microcomputer control circuit, proportional valve control circuit (including slope signal generator, oscillator circuit detection, PID controller, Voltage and power amplifier circuit), and gives jamming technology design.
本文以拉挖式自平衡节能型挖掘机为研究对象,主要完成了下面两个方面的研究工作:
1)对自平衡节能型挖掘机工作装置的原理进行了分析,在此基础上对自平衡节能型挖掘机工作装置运动学和动力学进行了系统分析,并对挖掘机轨迹规划问题进行了研究。
2)对卷扬马达和斗杆油缸协调控制问题进行了研究,分析了卷扬马达和斗杆油缸协调控制的问题,并以此设计了实现协调控制的液压系统和电气控制系统。
由于挖掘机工作装置的结构及其工作方式与工业机器人相似,因此,可以将其作为一个工业机器人来进行研究。应用齐次坐标与齐次变换的概念和D-H法推导出了自平衡节能型挖掘机工作装置的运动学方程和动力学方程,应用矩阵代数来分析工作轨迹。
本文的研究成果可以用于自平衡节能型挖掘机工作装置的设计。
Apply high technology to transform traditional industries is the main directions of the further development of manufacturing, the wider use of robotics, computer technology and electronic information technology has become the main means of technological advances in many industry. Construction machinery industry is a typical representative. Therefore, the State 863 Project makes the engine robot research project as especially single topic. The other hand, with the further expansion of the scale of the project, the construction machinery has broad market demand and broad development prospects. However, the current domestic situation is: Domestic products are technologically backward, low competitiveness, foreign products have occupied the market seriously. How to improve the competitiveness of excavator products in the domestic market, protecting national industries, become one of the important tasks of scientific and technological workers, because of this, this paper is of special significance to the study.
A self-balanced and energy saving attachment of excavator can be obtained when a fixed bob-weight and a movable one are mounted behind the axle pin of the arm. The gravity potential energy of the attachment does not change while the excavator works. No extra mechanical energy is consumed by the attachment. Not only the energy is saved, but also the hot of the hydraulic oil and the dynamic force of the turning bearing are decreased. Using this attachment, the stableness of the excavator is increased with the same weight, so that a bigger working radius or a bigger bucket volume can be obtained. This has a very important significance to improve the performance of excavators and save fuel.
The paper mainly research self-balanced and energy saving attachment of excavator. The structure and working of excavator are like those of robot, so we may research excavator by looking it as reboticized excavator. We can get kinematics and kinetic equation of work equipment and work trace of roboticized excavato.It will improve the excavator's capabilities of the best trace layout, kinetics and so on.
The research as the following:
First. Excavators kinematic and dynamic analysis. First abstract excavator structure as a 1R-3P system, the rotary turntable from the base joints, boom relative to the turntable rotating joints, stick around the end of the rotating arm and bucket joint struggle around the end of the rod to the four degrees of freedom rotary joint robot model . D-H robot model used to establish law and D-H coordinates, analysis of the solution model of the robot kinematics and inverse kinematics problem. On this basis, solving the effective work of excavators. Finally,using Lagrange equations to fix the dynamic equations of the robot model.
Second. On the basis of establishing kinematic and dynamic model of excavator working device, introducing the concept of robot path planning, principles and methods used. Analyzing the three factors affecting the efficiency of excavator and excavator under the three different operations,level three is to investigate mining operations along the slope formation found in the pit trajectory control, after the discuss simulation results are given.
Third. Introducing the stick tank and the winch motor coordination and control of the basic tenets. Analyzing the process of stick tank and the winch motor coordination and using a hydraulic control system design. Analyzing the electro-hydraulic proportional valve and its characteristic curve and the direction of the dynamic characteristics of the hydraulic system.
Forth. According to the control process and the constitute of hydraulic system, design a reasonable hardware. Hardware include input channel signal processing circuit, microcomputer control circuit, proportional valve control circuit (including slope signal generator, oscillator circuit detection, PID controller, Voltage and power amplifier circuit), and gives jamming technology design.
引文
[1]同济大学 单斗液压挖掘机 中国建筑工业出版社 1986
[2]刘国民、黄海东 拉挖式自平衡节能型挖掘机 工程机械 2000(1)
[3]霍伟 机器人动力学与控制 高等教育出版社 2005
[4]熊有伦等 机器人学 机械工业出版社 1993
[5]付京逊、R-C·冈萨雷斯、C-S-G·李 机器人学·控制·传感技术·视觉·智 能 中国科学技术出版社 1989
[6]曾乐生 自动控制基础 北京理工大学出版社 1993
[7]王恩荣 MCS-51 单片机应用技术 化学工业出版社 2001
[8]陈立周、陈宇 单片机原理及其应用 机械工业出版社 2001
[9]路甬祥、胡大纮 电液比例控制技术 机械工业出版社 1988
[10]黎启柏 电液比例控制与数字控制系统 机械工业出版社 1997
[11]张立民 MCS-51 系列单片机实用接口技术 北京航天航空大学出版社 1993
[12]涂时亮、张友德 单片微机控制技术 复旦大学出版社 1994
[13]张琳娜、刘武发 传感检测技术及应用 中国计量出版社 1999
[14]王庆丰等 电液比例方向阀稳态流量控制特性的试验及分析 液压与气动 1994(4)
[15]金朝东等 以挖掘轨迹为基础的挖掘阻力研究 矿山机械 1994
[16]郭刚、龚烈航 液压挖掘机工作装置斗齿轨迹的控制 工程机械 1998(6)第 29 卷第 6 期
[17]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)
[18]曾孟雄等 基于单片机-电液比例阀的工作装置控制系统 矿山机械2000(2)第 28 卷第 2 期
[19]李扬民、朱湘翼 机器人式液压挖掘机 工程机械与维修 1997(9)
[20]何允纪、李滨城、崔红 液压挖掘机反铲工作装置的优化设计 工程机械 1994.6
[21]朱湘冀 机械铲式挖掘机机器人化的探讨 机器人 1995(17)
[22]丁国富、吴晓、王金诺 机器人化液压挖掘机的运动学建模和仿真研究 机械科学与技术 2000 年第 19 卷第 5 期
[23]诸静 机器人与控制技术 浙江大学出版社 1991
[24]蔡自兴 机器人学 清华大学出版社 2000
[25]余达太、马香峰 工业机器人应用工程 冶金工业出版社 1999
[26]赵锡芳 机器人动力学 上海交通大学出版社 1992
[27]中英昌 机器人 科学技术文献出版社 1986
[28]杜祥瑛 工业机器人及其应用 机械工业出版社 1986
[29]史美功、俞学廉 工业机器人 上海科学技术出版社 1987
[30]孙守迁 微机操纵液压挖掘机规划级控制理论和方法的研究 浙江大学博士学位论文 1991.9
[31]孙迪生、王炎 机器人控制技术 机械工业出版社 1997
[32]李兰生、边仁国 液压挖掘机工作装置运动学分析及轨迹规划 矿山机械1998(2)
[33]郑堤、唐可洪 机电一体化基础 机械工业出版社 1997
[34]李华 MCS-51 系列单片机实用接口技术 北京航空航天大学出版社 1993
[35]徐涛 数值计算方法 吉林科学技术出版社 1998.7(1) 14~62
[36]刘缵武、陈虹、张国梁 矩阵论及其应用 解放军出版社 2002
[37]赵继文 传感器与应用电路设计 科学出版社 2002
[38]张锡富 传感器 机械工业出版社 2005
[39]刘顺安 机器人化装载机工作装置数字电液比例控制系统的研究 工程机械,2000.11
[40]王庭树 机器人运动学及动力学 西安电子科技大学出版社 1990
[41]柳洪义,宋伟刚.机器人技术基础.冶金工业出版社.2002
[42]殷际英,何广平.关节型机器人.化学工业出版社.2003.8
[43]徐建闽,蔡常天,张光海,周其节.机器人的控制问题与方法.哈尔滨工业大学出版社 1997
[44]王树国等.智能机器人的现状及未来.机器人技术与应用 1998 1
[45]解学书.最优控制理论与应用.清华出版社 1986
[46]Nguyen Hong Qing. Robust low level control of robotic excavation. Australian Centre for Field Robotics The University of Sydney, March. 2000.
[47]Stepanenko Y, Su C Y. Variable structure control of robot manipulators with nonlinear sliding manifolds. Int J. Control.1993,58(2):285-300
[48]Albus J S. A new approach to manipulator control :The Cerebellar Model Articulation Controller(CMAC).Trans. ASME Journal of Dynamic Systems, Measurement And Control.1975,97(3):220-227
[49]Albus J S. Data storage in the cerebellar model articulation controller (CMAC). Trans. ASME Journal of Dynamic Systems, Measurement, And Control.1975,97(3):228-233
[50]Kraft L G, Campagna D P.A comparison between CMAC neural network control and two traditional adaptive control systems. IEEE control systems magazine.Apr.1990:36-43
[51] Lambeck R P. Hydraulic Pumps and Motors: Selection and Application for Hydraulic Power Control System. New York: Marcel Dekker Inc,1983
[52] Bollingen John G, Daffie Neil A. Computer Control of Machines andProcesses. USA: Addison-Wesley Publishing Company,1988
[53] Vehicle Hydraulic Systems and Digital/Electrohydraulic controls, 1991. SAE SP-882, ISBN 1-56091-174-3
[54] Wolfram S. Mathematica: A System for doing Mathematics by Computer(2nd ). New York Addison-Wesley ,1991
[55] Brady M eds.RobotM otion[J],Planning and control.Ca mbridge,Mass.MIT Press ,1983
[56] Mike Cobo, Richard Ingram, Sabri Cetinkunt, Modeling,identification,and real-time control of bucket hydraulic system for a wheel type loader earth moving equipment,Mechatronics 1998(8)
[2]刘国民、黄海东 拉挖式自平衡节能型挖掘机 工程机械 2000(1)
[3]霍伟 机器人动力学与控制 高等教育出版社 2005
[4]熊有伦等 机器人学 机械工业出版社 1993
[5]付京逊、R-C·冈萨雷斯、C-S-G·李 机器人学·控制·传感技术·视觉·智 能 中国科学技术出版社 1989
[6]曾乐生 自动控制基础 北京理工大学出版社 1993
[7]王恩荣 MCS-51 单片机应用技术 化学工业出版社 2001
[8]陈立周、陈宇 单片机原理及其应用 机械工业出版社 2001
[9]路甬祥、胡大纮 电液比例控制技术 机械工业出版社 1988
[10]黎启柏 电液比例控制与数字控制系统 机械工业出版社 1997
[11]张立民 MCS-51 系列单片机实用接口技术 北京航天航空大学出版社 1993
[12]涂时亮、张友德 单片微机控制技术 复旦大学出版社 1994
[13]张琳娜、刘武发 传感检测技术及应用 中国计量出版社 1999
[14]王庆丰等 电液比例方向阀稳态流量控制特性的试验及分析 液压与气动 1994(4)
[15]金朝东等 以挖掘轨迹为基础的挖掘阻力研究 矿山机械 1994
[16]郭刚、龚烈航 液压挖掘机工作装置斗齿轨迹的控制 工程机械 1998(6)第 29 卷第 6 期
[17]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)
[18]曾孟雄等 基于单片机-电液比例阀的工作装置控制系统 矿山机械2000(2)第 28 卷第 2 期
[19]李扬民、朱湘翼 机器人式液压挖掘机 工程机械与维修 1997(9)
[20]何允纪、李滨城、崔红 液压挖掘机反铲工作装置的优化设计 工程机械 1994.6
[21]朱湘冀 机械铲式挖掘机机器人化的探讨 机器人 1995(17)
[22]丁国富、吴晓、王金诺 机器人化液压挖掘机的运动学建模和仿真研究 机械科学与技术 2000 年第 19 卷第 5 期
[23]诸静 机器人与控制技术 浙江大学出版社 1991
[24]蔡自兴 机器人学 清华大学出版社 2000
[25]余达太、马香峰 工业机器人应用工程 冶金工业出版社 1999
[26]赵锡芳 机器人动力学 上海交通大学出版社 1992
[27]中英昌 机器人 科学技术文献出版社 1986
[28]杜祥瑛 工业机器人及其应用 机械工业出版社 1986
[29]史美功、俞学廉 工业机器人 上海科学技术出版社 1987
[30]孙守迁 微机操纵液压挖掘机规划级控制理论和方法的研究 浙江大学博士学位论文 1991.9
[31]孙迪生、王炎 机器人控制技术 机械工业出版社 1997
[32]李兰生、边仁国 液压挖掘机工作装置运动学分析及轨迹规划 矿山机械1998(2)
[33]郑堤、唐可洪 机电一体化基础 机械工业出版社 1997
[34]李华 MCS-51 系列单片机实用接口技术 北京航空航天大学出版社 1993
[35]徐涛 数值计算方法 吉林科学技术出版社 1998.7(1) 14~62
[36]刘缵武、陈虹、张国梁 矩阵论及其应用 解放军出版社 2002
[37]赵继文 传感器与应用电路设计 科学出版社 2002
[38]张锡富 传感器 机械工业出版社 2005
[39]刘顺安 机器人化装载机工作装置数字电液比例控制系统的研究 工程机械,2000.11
[40]王庭树 机器人运动学及动力学 西安电子科技大学出版社 1990
[41]柳洪义,宋伟刚.机器人技术基础.冶金工业出版社.2002
[42]殷际英,何广平.关节型机器人.化学工业出版社.2003.8
[43]徐建闽,蔡常天,张光海,周其节.机器人的控制问题与方法.哈尔滨工业大学出版社 1997
[44]王树国等.智能机器人的现状及未来.机器人技术与应用 1998 1
[45]解学书.最优控制理论与应用.清华出版社 1986
[46]Nguyen Hong Qing. Robust low level control of robotic excavation. Australian Centre for Field Robotics The University of Sydney, March. 2000.
[47]Stepanenko Y, Su C Y. Variable structure control of robot manipulators with nonlinear sliding manifolds. Int J. Control.1993,58(2):285-300
[48]Albus J S. A new approach to manipulator control :The Cerebellar Model Articulation Controller(CMAC).Trans. ASME Journal of Dynamic Systems, Measurement And Control.1975,97(3):220-227
[49]Albus J S. Data storage in the cerebellar model articulation controller (CMAC). Trans. ASME Journal of Dynamic Systems, Measurement, And Control.1975,97(3):228-233
[50]Kraft L G, Campagna D P.A comparison between CMAC neural network control and two traditional adaptive control systems. IEEE control systems magazine.Apr.1990:36-43
[51] Lambeck R P. Hydraulic Pumps and Motors: Selection and Application for Hydraulic Power Control System. New York: Marcel Dekker Inc,1983
[52] Bollingen John G, Daffie Neil A. Computer Control of Machines andProcesses. USA: Addison-Wesley Publishing Company,1988
[53] Vehicle Hydraulic Systems and Digital/Electrohydraulic controls, 1991. SAE SP-882, ISBN 1-56091-174-3
[54] Wolfram S. Mathematica: A System for doing Mathematics by Computer(2nd ). New York Addison-Wesley ,1991
[55] Brady M eds.RobotM otion[J],Planning and control.Ca mbridge,Mass.MIT Press ,1983
[56] Mike Cobo, Richard Ingram, Sabri Cetinkunt, Modeling,identification,and real-time control of bucket hydraulic system for a wheel type loader earth moving equipment,Mechatronics 1998(8)