挖掘机工作装置液压系统建模与参数估计  

Modeling and Parameter Estimation of the Hydraulic System of an Excavator′s Manipulator

作　　者：张大庆 黄志雄[2] 何清华[2] 邹湘伏[2] 

机构地区：[1]湖南山河智能机械股份有限公司,长沙410100 [2]中南大学机电工程学院,长沙410083

出　　处：《机械科学与技术》2008年第12期1644-1647,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家863计划项目(2003AA430200)资助

摘　　要：首先介绍了试验挖掘机机器人改造后的电液比例系统。而后结合所采用的LUDV系统(load independent flowdistribution system)的特点,以动臂装置液压系统为例,从电液比例阀的动态特性,液压系统的流量方程、连续性方程及力平衡方程入手,给出了电液比例系统的数学模型;在此基础上,根据试验结果对电液比例模型进一步进行简化,并利用相关的试验对模型进行了验证。通过对挖掘机动臂装置的结构和受力分析,导出了模型中液压缸等效质量(M)、液压缸负载力(Fl)等参数的估算方法和公式;通过试验辨识的方法确定阀的流量增益系数(Kq)取值范围。The retrofitted electro-hydraulic system for hydraulic robotic excavator was mtroduced, i nen, according to the principle and characteristic of LUDV （Load Independent Flow Distribution） system, the model of electrohydraulic system was derived by taking the hydraulic system of a boom as an example, combining the dynamics of electro-hydraulic valve with the flow equation, continuous equation and force equilibrium of the hydraulic system; the model was simplified based on the results of experiments. Finally, the model was verified by relative experiments. By analyzing the structure and load-bearing of the boom, the method and equations of estimation＂ for such parameters as equivalent mass （M） and bearing force （F1） of hydraulic cylinder were developed; the range of flow gain coefficient（Kq） was given on the basis of experiment identification.

关 键 词：挖掘机 电液比例系统 LUDV系统 建模 参数估计 

分 类 号：TU621[建筑科学—建筑技术科学] TP24[自动化与计算机技术—检测技术与自动化装置]