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面向液压挖掘机电控多路阀的控制系统参数整定
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Parameter Turning of Control System Based on Electronically Controlled Multi-valve of Hydraulic Excavator
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    摘要:

    针对传统液压挖掘机多路阀结构与整机性能间的耦合、液压控制系统精度低带来的整机控制不匹配问题,为实现液压挖掘机多路阀简单化设计和整机控制系统自适应变化,提出面对液压挖掘机电控多路阀的控制系统参数整定方法.界定操纵电手柄输出为0-1数字信号,考虑整机多路阀结构特征,设计液压挖掘机电控多路阀的变参数一阶控制系统,提出综合系统冲击、能量利用率、跟随性三项指标作为参数整定的评价算法.通过设计电手柄-控制器-液压挖掘机整机性能表达的数字化平台三者衔接的半物理仿真平台进行试验,分析结果表明:控制系统有效,且控制器响应的一阶控制系统参数T、K可基于整机性能整定得出;时间常数T可由电控多路阀阀芯固有频率和阀芯开度决定,与阀芯阻尼比相关度较小.

    Abstract:

    Aimingat on the coupling between the multi-valve structure of the conventional hydraulic excavator and the machine performance,the no-matching problem of machine control generated by the low precision of hydraulic control system, a parameter turning method of control system based on electronically controlled multi-valve of hydraulic excavator was proposed to achieve simplified design of hydraulic excavator multi-valve and adaptive change of the machine control systems. The output of electrical control handles was defined as 0-1 digital signal. Considering the structural characteristics of the multi-valve,the first-order control system of variable parameters for electronically controlled multi-valve of the hydraulic excavator is designed. An evaluating algorithm of parameter tuning was put forward, combining the system shock,energy efficiency,and the following performance. By designing hardware-in-Loop simulation, which is formed of the electrical control handles, controller, performance digital platform of hydraulic excavator, it shows that the control systems are effective, and the parameter T and K of the first-order control system,which the controller responds to,can base on the machine performance to be tuned. It is also found that time constant T can be determined by the natural frequency of multi-valve spool and the valve opening,and has smaller correlation with the spool-valve damping ratio. The design method of the hydraulic excavator provides good application value for the machine multi-valve design,which is associated with the design of control and operation.

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王安麟,田光伟,李晓田.面向液压挖掘机电控多路阀的控制系统参数整定[J].湖南大学学报:自然科学版,2016,43(10):52~61

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  • 在线发布日期: 2016-10-27
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