摘要
针对移动式煤炭采样车上多液压缸采样臂的结构、功能及其技术要求,分析了液压采样臂采样工作时各液压缸的运动规律和控制难点。为解决采样臂的多液压缸联动以实现终端执行件采样头的位置和角度控制问题,通过软件建立采样臂三维模型,对采样臂采样时各液压缸的运动轨迹进行仿真规划,提出并使用一种基于Simotion C240的虚拟主轴同步的方法,实现多液压缸同步控制。所提出的方法成功地应用于某型号煤炭采样车的控制,满足了自动采样过程中螺旋采样头定点定角度采样的动作要求,取得了实际的应用成果。
According to the structure, function and the technical requirements of mobile coal sampling＇s multi-cylinder sample arm, we analyse the motion law and the difficulties in controlling the motion of hydraulic cylinder sampling arm. To solve the multi-cylinder syn- chronous control problem and to achieve terminal actuator position and angle control, this paper built a simulation to carry out a simula- ted trajectory planning of the sampling arm. Then a virtual axis motion synchronization control based on Simotion C240 is proposed to achieve the synchronization of multi-cylinder control. The proposed method has been successfully applied to a certain type of coal sam- piing vehicle control, and the design can meet the functional and technical requirements of automatic sampling process. It has been ac- tually applied and achieved good effect.
出处
《控制工程》
CSCD
北大核心
2012年第6期1090-1092,1096,共4页
Control Engineering of China
关键词
采样臂
运动控制
多轴同步
液压控制系统
位置控制
sample arm
motion control
muhi-cylinder synchronization
hydraulic control system
position control
