外文翻译---液压挖掘机的半自动控制系统 英文.pdf

.AutomationinCrlocaterautconSemi-automaticcontrolsystemforhydraulicshovelHirokazuAraya),MasayukiKagoshimaMechanicalEngineeringResearchLaboratory,KobeSteel,Ltd.,Nishi-ku,KobeHyogo6512271,JapanAccepted27June2000AbstractAsemi-automaticcontrolsystemforahydraulicshovelhasbeendeveloped.Usingthissystem,unskilledoperatorscanoperateahydraulicshoveleasilyandaccurately.Amathematicalcontrolmodelofahydraulicshovelwithacontrollerwasconstructedandacontrolalgorithmwasdevelopedbysimulation.Thisalgorithmwasappliedtoahydraulicshovelanditseffectivenesswasevaluated.Highcontrolaccuracyandhigh-stabilityperformancewereachievedbyfeedbackplusfeedforwardcontrol,nonlinearcompensation,statefeedbackandgainschedulingaccordingtotheattitude.q2001ElsevierScienceB.V.Allrightsreserved.Keywords:Constructionmachinery；Hydraulicshovel；Feedforward；Statefeedback；Operation1.IntroductionAhydraulicshovelisaconstructionmachinerythatcanberegardedasalargearticulatedrobot.Diggingandloadingoperationsusingthismachinerequireahighlevelofskill,andcauseconsiderablefatigueeveninskilledoperators.Ontheotherhand,operatorsgrowolder,andthenumberofskilledoperatorshasthusdecreased.Thesituationcallsforhydraulicshovels,whichcanbeoperatedeasilybywxanyperson15.Thereasonswhyhydraulicshovelrequiresahighlevelofskillareasfollows.1.Morethantwoleversmustbeoperatedsimulta-neouslyandadjustedwellinsuchoperations.)Correspondingauthor.E-mailaddress:arayahrknedo.go.jpH.Araya.2.Thedirectionofleveroperationsisdifferentfromthatofashovelsattachmentmovement.Forexample,inlevelcrowdingbyahydraulicshovel,wemustoperatethreeleversarm,boom,.bucketsimultaneouslytomovethetopofabucket.alongalevelsurfaceFig.1.Inthiscase,theleveroperationindicatesthedirectionoftheactuator,butthisdirectiondiffersfromtheworkingdirection.Ifanoperatoruseonlyoneleverandotherfree-domsareoperatedautomatically,theoperationbe-comesveryeasily.Wecallthissystemasemi-auto-maticcontrolsystem.Whenwedevelopthissemi-automaticcontrolsystem,thesetwotechnicalproblemsmustbesolved.1.Wemustuseordinarycontrolvalvesforauto-maticcontrol.2.Wemustcompensatedynamiccharacteristicsofahydraulicshoveltoimprovetheprecisionofcontrol.0926-5805r01r$-seefrontmatterq2001ElsevierScienceB.V.Allrightsreserved.PII:S0926-58050000083-2()H.Araya,M.KagoshimarAutomationinConstruction102001477486478Fig.1.Levelcrowdingofanexcavatorandframemodelofanexcavator.Wehavedevelopedacontrolalgorithmtosolvethesetechnicalproblemsandconfirmtheeffectofthiscontrolalgorithmbyexperimentswithactualhydraulicshovels.Usingthiscontrolalgorithm,wehavecompletedasemi-automaticcontrolsystemforhydraulicshovels.Wethenreporttheseitems.2.HydraulicshovelmodelTostudycontrolalgorithms,wehavetoanalyzenumericalmodelsofahydraulicshovel.Thehy-draulicshovel,whoseboom,arm,andbucketjointsarehydraulicallydriven,ismodeledasshowninFig.2.Thedetailsofthemodelaredescribedinthefollowing.2.1.Dynamicmodel6Supposingthateachattachmentisasolidbody,fromLagrangesequationsofmotion,thefollowingexpressionsareobtained:22JuqJcosuyuuqJcosuyuuqJsinuyuuqJsinuyuuyKsinust.11l1212213133121221313311122JcosuyuuqJuqJcosuyuuyJsinuyuuqJsinuyuuyKsinust.1212122232331212123233222JcosuyuuqJcosuyuuqJuyJsinuyuuqJsinuyuuyKsinust.131312323233313131232333331.2.2where,Jsm1qmqm1qI；Js111g123112m11qm11；Jsm11；Jsm12q21g231g31331g3222g2m12qI；Jsm11；Jsm12qI；Ks3222332g3333g331.m1qm1qm1g；Ksm1qm1g；1g121322g233Ksm1g；andgsgravitationalacceleration.33g3uisthejointangle,tisthesupplytorque,1isiitheattachmentlength,1isthedistancebetweengithefulcrumandthecenterofgravity,misthemassioftheattachment,Iisthemomentofinertiaaroundithecenterofgravitysubscriptsis13,meanboom,.arm,andbucket,respectively.2.2.HydraulicmodelEachjointisdrivenbyahydrauliccylinderwhoseflowiscontrolledbyaspoolvalve,asshowninFig.3.Wecanassumethefollowing:1.Theopenareaofavalveisproportionaltothespooldisplacement.2.Thereisnooilleak.3.Nopressuredropoccurswhenoilflowsthroughpiping.()H.Araya,M.KagoshimarAutomationinConstruction102001477486479Fig.2.Modelofhydraulicshovel.4.Theeffectivesectionalareaofthecylinderisthesameonboththeheadandtherodsides.Inthisproblem,foreachjoint,wehavethefollowingequationfromthepressureflowcharacter-isticsofthecylinder:ViAhsKXPysgnXPyP2(.ii0iisii1i1iKwhen,KscB2rgPsPyP0ii1i1i2iwhere,Aseffectivecross-sectionalareaofcylin-ider；hscylinderlength；Xsspooldisplacement；Pssupplypressure；Pscylinderhead-sidepres-si1isure；Pscylinderrod-sidepressure；Vsoilvol-2iiumeinthecylinderandpiping；Bsspoolwidth；igsoildensity；Ksbulkmodulusofoil；andcsflowcoefficient.2.3.LinkrelationsInthemodelshowninFig.1,therelationbe-tweenthecylinderlengthchangerateandtheattach-mentrotationalangularvelocityisgivenas.follows:1boomfu.11h1su1OAOCsinuqb.1111sy,22(OAqOCq2OAOCcosuqb.111111.2arm.fu,u212h2suyu21.OAOCsinuyuqbqa22222122sy,22(.OAqOCq2OAOCcosuyuqbqa222222222122.3bucketwhenODsOBsBCsCD33333333YhABCsinuyuqgyaqu.3333232fu,ussy.3.32322Yuyu(ABqBCq2ABBCcosuyuqgyaqu.323333333332332()H.Araya,M.KagoshimarAutomationinConstruction102001477486480Fig.3.Modelofhydrauliccylinderandvalve.2.4.TorquerelationsFromthelinkrelationsofSection2.3,thesupplytorquetisgivenasfollows,takingcylinderfrictioniintoconsideration:tsyfuP1Aqfu,uP1A.111121222qfu,uP1AyCfuu.32333c1111qsgnuFfu4./1111tsyfu,uP1AyCfu,uuyu./221222c221221qsgnuyuFfu,u.5/212212tsyfu,uP1AyCfu,uuyu./332333c332332qsgnuyuFfu,u.5/323323Where,CistheviscousfrictioncoefficientandciFiskineticfrictionalforceofacylinder.i2.5.ResponsecharacteristicsofthespoolSpoolactionhasagreateffectoncontrolcharac-teristics.Thus,weareassumingthatthespoolhasthefollowingfirst-orderlagagainstthereferenceinput.1XXsX.5.iiTSq1spiWhere,XXisthereferenceinputofspooldis-iplacementandTisatimeconstant.spi3.AnglecontrolsystemAsshowninFig.4,theangleuisbasicallycontrolledtofollowthereferenceangleubyposi-gtionfeedback.Inordertoobtainmo