矿用单斗液压挖掘机动臂势能回收稳定控制方法

Study on Stable Control Method of Potential Energy Recovery of Manipulator with Single Bucket Hydraulic Excavator for Mine

为提高矿用单斗液压挖掘机动臂势能回收稳定控制效果,提出一种稳定控制方法.通过平衡挖掘机动臂负载波动,确定动臂势能回收压力控制目标,采用速度反馈控制确保吊臂下降速度的稳定性,完成了矿用单斗液压挖掘机动臂势能回收稳定控制.试验结果表明:该稳定控制方法在挖掘机动臂空载(0 kg)、半载(250 kg)和满载(500 kg)3种工况下均能保证较低的油耗,证明该方法具有较好的控制效果.

In order to improve the stability control effect of mining single bucket hydraulic excavator boom potential energy recovery,a stability control method is proposed.By balancing the load fluctuation of excavator boom,the control target of boom potential energy recovery pressure is determined,and the stability of boom descending speed is ensured by using speed feedback control.The stable control of potential energy recovery of boom of mining single bucket hydraulic excavator is completed.The test results show that the stability control method can ensure low fuel consumption under three working conditions of no load(0 kg),half load(250 kg)and full load(500 kg)of bucket,which proves that the research method has good control effect.