Motion Analyses And Control System Research For Face-shovel Excavator

Along with the development of the industry,the quantity demand for excavators is increasing,and the requirements of the performance of excavation equipment products have been increased.Domestic excavators are commonly used in the market recently.There is still a certain gap in the product performance and product technology between our and some developed foreign countries where excavators have been development earlier.It is necessary to optimize the configuration of the excavator and improve the efficiency of the excavator.A new type excavator was analyzed,researched and simulated in this article.This device can achieve elevating a bucket flatly because of the triangular wave plate.This device is able to increase the thrusting force and crushing force of the bucket.This paper analyzes the organization through theoretical research and virtual prototype simulation.Based on D-H method,the joints were determined.Excavator kinematics format was established based on the four basic loops for the hydraulic excavator.Used simulation software MATLAB to simulate the kinematics for excavator and used SolidWorks software to model 3D models for the parts of new type mining working device,then simulated the kinematics for the virtual prototype.Dynamics of mechanism,the joint driving force and the relationship between the joint space and drive space was calculated by using Lagrange dynamics equation.In this paper,taking the bucket hydraulic cylinder for example,the hydraulic system was modeled,simulated and analyzed.This paper used the traditional PID control algorithm,fuzzy control algorithm and the fuzzy adaptive PID algorithm to optimize the hydraulic system.Fuzzy linear algorithm was designed to optimize the performance of this hydraulic system by comparing the effectiveness of these several control algorithms.The effectiveness of these control algorithms were compared through comparing step response curves and sine tracking curves.At last,based on the hydraulic control system,fuzzy linear control algorithm was applied in the hydraulic system.Then verified the reliability of the control algorithm by analyzing the tracking curve of the bucket tooth positionThis paper analyzed the working parameters of the new excavator and proved the validity of this new configuration.The performance of the excavator was verified by analyzing the kinematics,dynamics of the excavator.The hydraulic system of excavators was optimized when it was simulated and analyzed.