工程机械臂新型液压驱动技术研究与仿真

Research and Simulation of a New Hydraulic Drive Technology for Engineering Mechanical Arm

针对工程机械臂大功率驱动的特点,设计出一种基于高速开关阀先导控制插装阀的阀控缸电液位置控制系统。利用AMESim软件建立其液压系统模型,采用PID控制和基于5点开关思想的脉宽调制(PWM)策略,对工程机械臂液压位置控制进行仿真研究。结果表明,这种新型液压驱动系统具有较强的自适应性,位置跟随精度高,能够实现大流量的数字控制,驱动液压缸的工作流量可达215L/min,符合工程机械臂驱动控制的技术要求。

A new electro--hydraulic position control system, which used the high speed on/off valve as the pilot valve for the cone valve, was designed in accordance with the features of high power engineering mechanical arm. A model of the hydraulic system was established by the AMESim soft- ware. Then the simulations were conducted with PID control and the PWM strategy based on five-- point switch thought. The results show that the new system has stronger self--adaptability, track po- sition with high precision, realizes the digital control with large flow which can arrive at 215L/min, and meets the drive needs of engineering mechanical arm.