液压挖掘机振动掘削土体参数在线辨识

Identification of soil parameters on vibratory excavation of hydraulic excavator

提出通过控制铲斗液化缸往复运动的位移及换向频率对铲斗实施激振的方法。依据振动掘削的动力学特征和振动机理,建立铲斗-土壤的单自由度模型。以共振理论为依据,为实现自适应振动掘削,提出一种在线测量土壤固有频率的方法。研究结果表明:通过控制铲斗来实现激振的方法是可行的;通过振动铲斗激振力及检测铲斗工作状态下的加速度或位移,利用合适算法能够较好地辨识出被掘削土体参数。

By controlling the displacement and frequency of the piston reciprocation, the vibration of the bucket was achieved. The single degree of freedom model of bucket-soil was established according to the dynamic characters and vibratory mechanism. The application of adaptive vibratory cutting was brought forward innovatively based on resonance theory, and a method of on-line measuring natural frequency of soil was also put forward. The dynamic equation in the process of vibratory cutting was discussed. The results show that the solution vibration is feasible by controlling the bucketrs piston. According to the vibratory force, acceleration or displacement of the bucket, which are measured in working state, the reasonable identification algorithm of soil parameter is also presented.