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

Abstract

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

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

CLC Number:

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.

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.

[1]	MIN Delei, TONG Ruting, WEI Yintao. Yaw Rate Calculation and Vehicle Stability Control Considering Tire Nonlinearity [J]. China Mechanical Engineering, 2023, 34(21): 2521-2530.
[2]	ZHENG Jieji, CHEN Lingyu, FAN Dapeng, XIE Xin. Research on Backlash Elimination Method of Dual-motor Precision Transmission Mechanisms [J]. China Mechanical Engineering, 2022, 33(22): 2684-2692.
[3]	DONG Zhenle, YANG Yinghao, YAO Jianyong, ZHANG Zheng, LI Geqiang, WANG Shuai. Asymptotic Prescribed Performance Tracking Control of Electro-hydraulic Servo Systems under Matched and Unmatched Disturbances [J]. China Mechanical Engineering, 2022, 33(20): 2437-2443.
[4]	ZHOU Feng, ZHENG Lixia, SHEN Yechao, JIN Bo. Ultra-thin Diamond Wire Tension Control System Based on Adaptive Backstepping [J]. China Mechanical Engineering, 2021, 32(24): 2995-3000，3007.
[5]	XU Tingting, LUO Min, JIANG Jiajun, WANG Jing, ZHANG Jiahe. Two-layer Contact Nonlinear Mechanics Analysis of Controllable Universal Joint Flexible Structure in the Tubes [J]. China Mechanical Engineering, 2020, 31(15): 1798-1807,1814.
[6]	Chai Tian, Han Xu, Ding Fei, Lei Fei. Design and Evaluation of Non-dimensionalised Automotive Suspension Parameters [J]. China Mechanical Engineering, 2016, 27(21): 2939-2943,2981.
[7]	Huang Kang, Gong Miao, Zhong Huayong, Wang Kailai. Control Strategy of Multipoint Jacking System Based on Generalized Predictive Adjacent Coupling Theory [J]. China Mechanical Engineering, 2016, 27(15): 2009-2014.
[8]	Dong Zhenle, Ma Dawei, Yao Jianyong, Wang Xiaofeng. Prescribed Performance Tracking Control of Electro-hydraulic Servo Systems with Hysteresis Compensation [J]. China Mechanical Engineering, 2016, 27(08): 995-1000.
[9]	Zhu Yong, Jiang Wanlu, Liu Siyuan, Zheng Zhi, . Research on Influences of Nonlinear Hydraulic Spring Force on Nonlinear Dynamic Behaviors of Electro-hydraulic Servo System [J]. China Mechanical Engineering, 2015, 26(8): 1085-1091,1104.
[10]	Ji Huawei, Liu Maona, Hu Xiaoping. Optimization of MSMA Actuator Hysteresis Model Based on Hybrid GA [J]. China Mechanical Engineering, 2015, 26(4): 508-512.
[11]	Li Zheng, Wu Weiliang, Qu Wenzhong, Xiao Li. Fatigue Crack Detection Using Nonlinear Ultrasonic Modulation Method [J]. China Mechanical Engineering, 2015, 26(17): 2384-2388.
[12]	Nie Xin, Huang Pengchong, Chen Tao, Cheng Aiguo. Topology Optimization of Automotive Key Safety Component Design Based on Crashworthiness [J]. China Mechanical Engineering, 2013, 24(23): 3260-3265.
[13]	LI Bei, YAN Jun, GUO Gang, JIAN Hai-Bei, ZHANG Mei-Jun. #br# Parameter Identification of Dynamics Model for Excavator Arm and Friction Model for Cylinder [J]. China Mechanical Engineering, 2012, 23(19): 2347-2350.
[14]	ZHANG Chang-Ying. #br# #br# Dual-valve Control of a Work Roll Bending System [J]. China Mechanical Engineering, 2012, 23(16): 1916-1919.
[15]	XU Gong-Wei-1, 2, XU Fang-１, ZHANG Lin-1. Analysis of Stepper Motor Velocity Saturation Nonlinearity [J]. China Mechanical Engineering, 2011, 22(24): 2958-2961.

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

液压挖掘臂关节伺服系统非线性动态特征研究

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics