液压挖掘臂关节伺服系统非线性动态特征研究

中国机械工程 ›› 2012, Vol. 23 ›› Issue (15): 1807-1810.

液压挖掘臂关节伺服系统非线性动态特征研究

黎波;严骏;曾拥华;郭刚

解放军理工大学,南京,210007

出版日期:2012-08-10 发布日期:2012-09-05

#br# Investigation of Nonlinear Dynamic Characteristics for Servo System of a Hydraulic Excavator Arm

Li Bo;Yan Jun;Zeng Yonghua;Guo Gang

PLA University of Science and Technology,Nanjing,210007

Online:2012-08-10 Published:2012-09-05

摘要/Abstract

摘要：

为有效分析挖掘臂关节伺服控制系统,提高控制精度,通过机理建模分析了系统存在的非线性特性——比例阀死区、阀控非对称液压缸动态特性不对称特性、液压缸非线性摩擦力、非线性液压弹簧力及挖掘臂关节非线性动力学。通过实验验证了系统中各项非线性特性对其控制性能的影响。结果表明,以上几种非线性特性对系统动态响应均存在不利影响。

关键词: 挖掘臂, 电液伺服系统, 阀控非对称液压缸, 非线性

Abstract:

In order to analyze the joint-servo control system for an excavator arm,and improve its control property,a nonlinear model for the system based on theoretic analyses was constructed.The nonlinearities included dead band of the electro-hydraulic proportional valve,asymmetry dynamic characteristics of the valve-controlled asymmetric cylinder,nonlinear friction force of the cylinder,nonlinear spring force of the cylinder,and nonlinear dynamic model of the excavator arm.The nonlinear characteristics of the system were verified by experiments.Experimental results demonstrate all the nonlinear characteristics has bad influences on the dynamic response of the system,thus it provides a theoretic reference for the controller design.

Key words: excavator arm, electro-hydraulic servo system, valve-controlled asymmetric cylinder, nonlinearity

中图分类号:

黎波, 严骏, 曾拥华, 郭刚. 液压挖掘臂关节伺服系统非线性动态特征研究[J]. 中国机械工程, 2012, 23(15): 1807-1810.

LI Bei, YAN Jun, CENG Yong-Hua, GUO Gang. #br# Investigation of Nonlinear Dynamic Characteristics for Servo System of a Hydraulic Excavator Arm[J]. China Mechanical Engineering, 2012, 23(15): 1807-1810.

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