液压伞钻机械臂液压系统改进与仿真

Improvement and simulation on hydraulic system of mechanical arm in vertical shaft drill

针对目前全液压伞钻钻孔定位需要手动进行调节,自动化程度较低的问题,文章介绍了对传统伞钻液压系统的改进。应用PID控制算法对两组液压缸进行闭环控制;采用遗传算法优化PID参数并对阶跃信号进行仿真,结果表明系统快速性和稳定性提升;在动力学仿真软件中建立伞钻单臂虚拟样机模型,获取位姿改变时液压缸负载力与活塞杆位移随时间变化情况,对改进系统施加变负载获取活塞杆位移真实值且与理论值比较。结果表明改进后的液压系统在变负载工况下液压缸位置控制能保持较高精度。

Currently the positioning of hydranlic vertical shaft drilling must be adjusted manually, which is of low automation degree. The hydraulic system of traditional drill is improved, and closed loop control of two hydraulic cylinders is carried out using PID control algorithm. The PID parameters are optimized by genetic algorithm, and the single arm control system is simulated with step signals. The result shows that the system is promoted in rapidity and stability. The virtual prototype model of vertical shaft drill is created in the dynamic simulation software; the changing load and the displacement of the piston rod during the process of the position varying are obtained in the drill model. Changing load is applied on the hydraulic system simulation model to obtain displacement of piston rod. Compared with the actual value, the results show that the position control system of the hydraulic cylinder keeps high accuracy under the condition of changing load.