流量振动控制在挖掘特性分析中的应用

Analysis of Excavation Characters Based on Flow Vibration Control

建立了挖掘工作装置坐标变换、振动驱动机构和求解振动挖掘力的理论模型,在铲斗驱动油缸上施加静力挖掘和振动挖掘流量复合控制信号,分析了不同频率、波形和流量控制比例条件下,振动挖掘作业的挖掘力特性、轨迹分布以及作业效率。在流量振动控制信号中,利用傅里叶级数方法解决了方波、三角波信号在常规条件不能求导的技术难题,并用数值计算方法和试验对流量振动控制模型进行了验证、分析。结果表明,基于铲斗油缸驱动的振动挖掘作业为一维振动挖掘,方波流量振动控制信号可获得较大的振动挖掘力,增加振动频率和流量控制比例可增加振动挖掘力。研究为振动挖掘控制参数的选择提供了理论依据。

Under special working conditions,vibratory excavation can reduce excavating resistance and improve work efficiency for engineering machinery.The theoretical models of coordinate transformation forexcavating devices,vibratory driven mechanisms,and solutions for excavating forces are established.The compound flow control signals produced by normal excavation and vibratory excavation are applied to a bucket cylinder.The excavating force′s characteristics,trace distribution,and work efficiency are analyzed under the conditions of different frequencies,waveform and flow control scales.The key problems of square wave and triangular wave,which cannot be differentiated under normal conditions,are solved using Fourier series in the flow control signal.The vibration model of flow control is verified,analyzed by numerical calculation,and tested.The results show that the vibrating excavation driven by the bucket cylinder is a kind of one-dimensional vibration,and a higher vibration digging force can be acquired using a square-wave vibration control signal or by increasing the vibration frequency and flow control scale.This research can provide a theoretical basis for determining control parameters of vibratory excavation.