液压挖掘机的半自动控制系统 外文翻译

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1、Semi-automaticcontrolsystemforhydraulicshovelAbstractAsemi-automaticcontrolsystemforahydraulicshovelhasbeendeveloped.Usingthissystem,unskilledoperatorscanoperateahydraulicshoveleasilyandaccurately.Amathematicalcontrolmodelofahydraulicshovelwithacontrollerwasconstruct

2、edandacontrolalgorithmwasdevelopedbysimulation.Thisalgorithmwasappliedtoahydraulicshovelanditseffectivenesswasevaluated.Highcontrolaccuracyandhigh-stabilityperformancewereachievedbyfeedbackplusfeedforwardcontrol,nonlinearcompensation,statefeedbackandgainschedulingacc

3、ordingtotheattitude.Keywords:Constructionmachinery;Hydraulicshovel;Feedforward;Statefeedback;Operation1.IntroductionAhydraulicshovelisaconstructionmachinerythatcanberegardedasalargearticulatedrobot.Diggingandloadingoperationsusingthismachinerequireahighlevelofskill,a

4、ndcauseconsiderablefatigueeveninskilledoperators.Ontheotherhand,operatorsgrowolder,andthenumberofskilledoperatorshasthusdecreased.Thesituationcallsforhydraulicshovels,whichcanbeoperatedeasilybyanypersonw1–5x.Thereasonswhyhydraulicshovelrequiresahighlevelofskillareasf

5、ollows.1.Morethantwoleversmustbeoperatedsimultaneouslyandadjustedwellinsuchoperations.2.Thedirectionofleveroperationsisdifferentfromthatofashovel’sattachmentmovement.Forexample,inlevelcrowdingbyahydraulicshovel,wemustoperatethreeleversŽarm,boom,bucket.simultaneouslyt

6、omovethetopofabucketalongalevelsurfaceŽFig.1..Inthiscase,theleveroperationindicatesthedirectionoftheactuator,butthisdirectiondiffersfromtheworkingdirection.Ifanoperatoruseonlyoneleverandotherfreedomsareoperatedautomatically,theoperationbecomesveryeasily.Wecallthissys

7、temasemi-automaticcontrolsystem.Whenwedevelopthissemi-automaticcontrolsystem,thesetwotechnicalproblemsmustbesolved.1.Wemustuseordinarycontrolvalvesforautomaticcontrol.2.Wemustcompensatedynamiccharacteristicsofahydraulicshoveltoimprovetheprecisionofcontrol.Fig.1.Level

8、crowdingofanexcavatorandframemodelofanexcavator.Wehavedevelopedacontrolalgorithmtosolvethesetechnicalproblemsandconfirmtheeffectoft