静力压桩机调平系统的建模与控制

Modeling and Control of Self-Leveling System for Static Pile Driver

针对静力压桩机电液比例调平系统建立了分析调平控制方法精确的动力学模型,并对两种调平方法的效率、稳定性以及调平精度进行了分析.该模型将桩机平台等效为刚体,考虑平台3个自由度运动和调平控制系统的耦合,利用运动方向的相关参数对系统进行解耦,确立了调平系统的控制方程.分别采用绕最高点调平和方向解耦调平两种方法,结合调平系统的控制方程,对该系统的调平特性进行了分析.结果表明,系统采用方向解耦调平比绕最高点齐动调平的精度高一倍,稳定性也大大提高.

The dynamic model of self - leveling control for static pile driver using electro - hydraulic proportional control system is put forward. The features of two self - leveling methods are analyzed. By taking the platform of pile driver as rigid body, considering the coupling of self- leveling control system and three DOF movements of the platform, using relative parameters of movements to decoupling,the control equations are acquired. The analyses of the system using two sorts of angle error control methods are then carried out. It is shown through the results that the precision of direction decoupling leveling method is twice as much as culmination trending method, and the stability is better.