摘要
为有效分析挖掘臂关节伺服控制系统,提高控制精度,通过机理建模分析了系统存在的非线性特性——比例阀死区、阀控非对称液压缸动态特性不对称特性、液压缸非线性摩擦力、非线性液压弹簧力及挖掘臂关节非线性动力学。通过实验验证了系统中各项非线性特性对其控制性能的影响。结果表明,以上几种非线性特性对系统动态响应均存在不利影响。
In order to analyze the joint--servo control system for an excavator arm, and improve its control property,a nonlinear model for the system based on theoretic analyses was constructed. The nonlinearities included dead band of the electro--hydraulic proportional valve, asymmetry dynamic characteristics of the valve--controlled asymmetric cylinder, nonlinear friction force of the cylinder, nonlinear spring force of the cylinder,and nonlinear dynamic model of the excavator arm. The nonlin- ear characteristics of the system were verified the nonlinear characteristics has bad influences a theoretic reference for the controller design. by experiments. Experimental results demonstrate all on the dynamic response of the system, thus it provides
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2012年第15期1807-1810,共4页
China Mechanical Engineering
关键词
挖掘臂
电液伺服系统
阀控非对称液压缸
非线性
excavator arm
electro-- hydraulic servo system
valve-- controlled asymmetric cylin-der
nonlinearity
