The Dynamics Analysis And Control System Research On Hydraulic Excavator Working Device

Hydraulic excavators, as a widely used construction machinery, its workingperformance, time efficiency, the fatigue life have a serious influence on the wholeconstruction progress. As the direct implementation to complete working, excavatorworking device’s performance is directly related to the performance of excavator, So thedynamic analysis of hydraulic excavator working device is particularly necessary.Additionally, in the working process, mining precision is difficult to control whenmanual operation excavator. What’s more, it’s not suitable for manual operation whensome mining environment is harsh. Therefore, the study of excavator working device isvery essentially significant. It is very necessary to research excavator automatic miningaccording to the given trajectory. So it ought to carry on the analysis of control systemon hydraulic excavator working device. This paper will introduce the analysis ofdynamics on working device of hydraulic excavator and the analysis of its controlsystem.This paper first carries Kane-Huston in multibody dynamics method on theworking equipment of hydraulic excavator on the dynamics modeling, dynamics ofhydraulic excavator working device general equation is obtained. Using Pro/E andADAMS software to complete the establishment of the virtual prototype model ofhydraulic excavator, and add the necessary constraints, and the external force system,simulate the real environment of hydraulic excavator working condition. Using virtualprototype technology and ADAMS dynamics analysis software to do excavatordynamics simulation, get in the actual work process, the mobile arm, the speed andacceleration between the arm and bucket, and the relationship of force at the hinge pinpoint, which laid a foundation for subsequent excavator structure finite element analysis;The dynamics equation is generally associated with the virtual prototype model ofsolving the inverse problem, movable arm, arm Angle curve, comparison on each otherand to verify the validity of the model set up with each other.Secondly, the control system of hydraulic excavator analysis respectively uses jointsimulation analysis and theoretical simulation analysis, the dynamics simulationsoftware ADAMS is used forthe joint simulation and connects organically with controlsystem analysis software MATLAB/Simulink, realize the mechatronics co-simulation.In the process, realized the data exchange between them, dynamics analysis of datagetting in ADAMS reaches to MATLAB/Simulink, establish the PID control system inthe MATLAB/Simulink to control them. Eventually get virtual prototype buckethydraulic excavator bucket tip trajectory, and compared respectively with the theory given trajectory, the trajectory got without PID control, it greatly strengthened the PIDcontrol for excavator bucket bucket tip trajectory control, and has a guiding significanceon future excavator control system research. Theoretical simulation carries on thecontrol simulation analysis by calculating control system transfer function of each link,especially the transfer function of work device of the boom and arm. Through the PIDcontrol system block diagram which is built in MATLAB/Simulink, it finally get stepcurve and sine signal curve on boom and arm system. And, compared with thesimulation results not to add the PID control algorithm. What’s more, this paper hascarried on the comparative study on considering dynamics and without transfer functioncalculation of excavator working device. Finally it concludes the necessity of theconsideration of working device dynamics on excavator control system.At last, This paper has carried on the experimental study about excavator workingdevice control system. According to three kinds of load cases, namely, no-load, lightload and over load, this paper carries on electro-hydraulic proportional valveperformance experiments and PID control experiments. The electro-hydraulicproportional valve performance experiments test the operating characteristics of theboom and arm electro-hydraulic proportional valve, and have clear reveals the workingrange of the electro-hydraulic proportional valve. The "PID" experiments prove thepracticability of the PID control algorithm, and achieve the mining movement accordingto the given level straight line, and obtain optimal trajectory curve and controlparameters.