Using hydraulic power steering system of model EIMCO 922 load-haul-dump vehicle as a simulation example, the dynamic characteristics of hydraulic power steering system in load-haul-dump vehicle were simulated and disc...Using hydraulic power steering system of model EIMCO 922 load-haul-dump vehicle as a simulation example, the dynamic characteristics of hydraulic power steering system in load-haul-dump vehicle were simulated and discussed with SIMULINK software and hydraulic control theory. The results show that the dynamic characteristics of hydraulic power steering system are improved obviously by using bladder accumulator, the hydraulic power steering system of model EIMCO 922 load-haul-dump vehicle generates vibration at the initial stage under the normal steering condition of pulse input, and its static response time is 0.25 s shorter than that without bladder accumulator. Under the normal steering working condition, the capacity of steering accumulator for absorbing pulse is directly proportional to the cross section area of connecting pipeline, and inversely proportional to the length of connecting pipeline. At the same time, the precharge pressure of nitrogen in steering accumulator should be 60%80% of the rated minimum working pressure of hydraulic power steering system. Under the abnormal steering working condition, the steering cylinder piston may obtain higher motion velocity, and the dynamic response velocity of hydraulic power steering system can be increased by reducing the pressure drop of hydraulic pipelines between the accumulator and steering cylinder and by increasing the rated pressure of hydraulic power steering system, but the dynamic characteristics of hydraulic power steering system in load-haul-dump vehicle have nothing to do with the precharge pressure of nitrogen in steering accumulator.展开更多
Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to aut...Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.展开更多
If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom （DOF） of the mechanism may be less than the resolution of position sensors. To handle...If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom （DOF） of the mechanism may be less than the resolution of position sensors. To handle this synchronization problem this paper proposes a force/position switching scheme, which partitions the two cylinders into a master cylinder and a slave cylinder. The master cylinder is always position tracking controlled by a second-order sliding mode controller and the slave cylinder is integrated with a force tracking controller which is a first order sliding mode controller. When the position tracking error is less than a given value, the slave cylinder switches to be force controlled. Two synchronization control methods are presented based on the switching scheme： the master - master ＋ force/position switching control and the master - slave ＋ force/position switching control. Simulations show that the formance compared with two given proposed synchronization control position-based control methods. methods can get a better per-展开更多
文摘Using hydraulic power steering system of model EIMCO 922 load-haul-dump vehicle as a simulation example, the dynamic characteristics of hydraulic power steering system in load-haul-dump vehicle were simulated and discussed with SIMULINK software and hydraulic control theory. The results show that the dynamic characteristics of hydraulic power steering system are improved obviously by using bladder accumulator, the hydraulic power steering system of model EIMCO 922 load-haul-dump vehicle generates vibration at the initial stage under the normal steering condition of pulse input, and its static response time is 0.25 s shorter than that without bladder accumulator. Under the normal steering working condition, the capacity of steering accumulator for absorbing pulse is directly proportional to the cross section area of connecting pipeline, and inversely proportional to the length of connecting pipeline. At the same time, the precharge pressure of nitrogen in steering accumulator should be 60%80% of the rated minimum working pressure of hydraulic power steering system. Under the abnormal steering working condition, the steering cylinder piston may obtain higher motion velocity, and the dynamic response velocity of hydraulic power steering system can be increased by reducing the pressure drop of hydraulic pipelines between the accumulator and steering cylinder and by increasing the rated pressure of hydraulic power steering system, but the dynamic characteristics of hydraulic power steering system in load-haul-dump vehicle have nothing to do with the precharge pressure of nitrogen in steering accumulator.
基金Project(K5117827)supported by Scientific Research Foundation for the Returned Overseas Chinese ScholarsProject(08KJB510021)supported by the Natural Science Research Council of Jiangsu Province,China+1 种基金Project(Q3117918)supported by Scientific Research Foundation for Young Teachers of Soochow University,ChinaProject(60910001)supported by National Natural Science Foundation of China
文摘Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.
基金Supported by the Major State Basic Research Development Program of China(No.2006CB5406)Important National Science&Technology Specific Projects(No.2009ZX04002-061,2009ZX04004-102)
文摘If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom （DOF） of the mechanism may be less than the resolution of position sensors. To handle this synchronization problem this paper proposes a force/position switching scheme, which partitions the two cylinders into a master cylinder and a slave cylinder. The master cylinder is always position tracking controlled by a second-order sliding mode controller and the slave cylinder is integrated with a force tracking controller which is a first order sliding mode controller. When the position tracking error is less than a given value, the slave cylinder switches to be force controlled. Two synchronization control methods are presented based on the switching scheme： the master - master ＋ force/position switching control and the master - slave ＋ force/position switching control. Simulations show that the formance compared with two given proposed synchronization control position-based control methods. methods can get a better per-
