双三角钻臂及其液压系统的建模与参数估计

Modeling and parameter estimation for double triangle boom and its hydraulic system

双三角钻臂具有结构紧凑、运行平稳、凿岩无盲区等优点 ,被凿岩机器人所采用 .为了控制钻臂 ,对轨迹进行跟踪和精确定位 ,要求建立钻臂及其液压系统的数学模型 .然而 ,该系统十分复杂 ,具有非线性和快时变的特点 ,要建立其精确的模型很困难 ,也没有必要 .作者从液压系统的流量方程、连续性方程和力平衡方程入手 ,对双三角钻臂及其液压驱动系统机理建模 .在建模过程中 ,忽略一些对模型精度影响不大的次要因素 ,获得了系统的简化模型 .通过对钻臂的结构和受力进行分析 ,导出了模型中的参数、液压缸负载力的估算公式和估算方法 。

With the advantage of compact structure, stable motion and no blind rock drilling area, double triangle boom is used in rocking drilling robot. In order to make the boom get trajectory tracking and locating accurately, modeling the boom and its hydraulic system is required. Because of the complexity, the non linear and the fast time varying characteristics, it is difficult to obtain an accurate model. In practice, it is unnecessary to do so. Starting with the flow equation, the continuity equation and the force equilibrium equation of the hydraulic system, the authors deal with the mechanism modeling for the double triangle boom and its hydraulic system. A simplified model of the system is obtained by neglecting some unimportant factors that affect the model accuracy. By analyzing the structure of the boom and the load bearing of the cylinders, the authors deduce the formulas and give the methods for the estimation of the parameters of the model and the bearing force of the cylinder. As a result, the foundation for the trajectory tracking and accurately locating control of the boom is set up.