静力压桩机自动调平系统的逆动力学模型研究

A self-leveling control system of hydraulic static pile driver based on inverse dynamic model

静力压桩机调平系统的逆向动力学模型是求解自动调平控制系统的关键,压桩机实时控制过程中出现"虚腿"的原因之一即是缺少动力学分析。为此,从压桩机的结构入手,考虑平台运动和液压控制系统的耦合,建立调平机构动力学模型,并对其进行动态过程研究,结果满足调平系统快速高精度的要求,自动调平运动过程中未出现"虚腿"现象。

The inverse dynamic model of hydraulic static pile driver is the key to settle the problem of self-leveling system, furthermore one of reasons which causes the phenomenon of ＂void leg＂ is lack of dynamic analysis in the process of control. To settle this problem,on the basis of the structure ,considering the coupling of the movement of the platform and the hydraulic control system ,a dynamic model of the system of the hydraulic static pile driver is established. After a dynamic research to the model,the result satisfies the requirment of fast high-preclsion in piling working, and the phenemenon of ＂void leg＂ is disappeared in the process of movement of self-leveling.