挖掘机自动控制系统建模与仿真

Modeling and Simulation of Automatic Control System of Excavator

以日立建机ZAXIS200(ZX200)型液压挖掘机为例,系统研究挖掘机的自动控制系统。建立挖掘机的系统控制框架,提出工作装置PID控制策略,确定挖掘机执行机构的控制流程,对回转、动臂、斗杆、铲斗子系统进行控制建模与仿真。分析系统稳定性,并在加入PID控制算法后进行整定获取最优的控制参数,通过试验验证仿真参数的准确性。

Based on Hitachi ZAXIS200 hydraulic excavator,the automatic control system for excavator is investigated in detail. A control framework is established,the PID control strategy for working devices is proposed,the control diagram of excavator executing mechanism is determined,and the modeling and simulation of the control of the rotation,boom,stick and the bucket subsystem are conducted.The system stability is analyzed.The optimal PID parameters are tuned and obtained,whose accuracy are verified by experiments.