The Study Of Adaptive Control Of Vibratory Excavation In Hydraulic Excavator

The vibrational excavate reduction and adaptive controlling of hydraulic excavator are been taken as researching targets in this paper. The researches of drag reduction process and parametric adaptive control of vibratory excavation are been carries out in this paper.Combine the dynamic constitutive model of soil with the stress analysis of bucket during excavating process, the mathematical model of bucket excavating resistance is established, then on this basis, drag reduction mechanism of vibratory excavation is been researched. The simulation model of vibratory excavation system of hydraulic excavator is been established, then the system dynamics are been analyzed, then the loading vibratory excavation process which is excited by different waveform signal are been analyzed and studied, then the superiority of work excited by Sinusoidal signal compared with work excited by Triangle signal is been analyzed.For the problem that the bucket power of vibratory excavation is difficult to be measured, then the method which use the envelope area of pressure curve of bucket cylinder to measure the effect of drag reduction and energy-saving of bucket during vibratory excavation. Then the three elements which evaluate the effect of vibratory excavation are defined, and the parameter database of vibratory excavation based on three different kinds of soil was established, and then the mathematical model of each database is obtained by fitting. The parametric iterative adaptive control algorithm of vibratory excavation based on database is been proposed, then the effectiveness and feasibility of the control method is been analyzed.The vibrational experimental platform of hydraulic excavators is been established, extensive experimental study based on different soil is conducted. The effect of excavation resistance decreases and operating efficiency improvement and power consumption reducing of vibratory excavation are been verified. The impacts on the effect of vibratory excavation from the natural frequency of the oil and vibration parameters are been explored. The impacts on excavation resistance and effectively excavating time and power consumption from the frequency and amplitude and frequency of the natural soil are been emphatically analyzed.