挖掘机工作装置电液控制系统的抗干扰特性

针对PC02挖掘机工作装置拟人操作的二级计算机控制系统,提出在底层电液控制系统里应把抗干扰性作为系统性能的主要衡量指标,减小外部载荷的突然变化对铲斗运动速度的影响.建立了挖掘机工作装置电液控制系统的状态变量模型和Simulink仿真实验模型,通过设计模糊辅助控制器对常规模糊PID控制器的输出比例因子KF进行在线调整,扩大了比例环节的影响程度.仿真实验得到了在铲斗外部不确定载荷发生突然变化时,系统的抗干扰特性曲线.模糊辅助控制器减小了外部载荷对活塞杆伸出速度的影响.

On the Anti-interference of Electro-Hydraulic Control System for Excavator's Digging Bucket Arm

Anti-interference is proposed as the key criterion for the lower-level electro-hydraulic control system in a two-level computer control system for the anthropomorphic operation of the digging bucket arm on the PC02 excavator, thus alleviating the effect of the sudden change of external load on the bucket's moving speed. With the state variables model and fuzzy/simulinkbased model both developed for the electro-hydraulic system, the output scaling factor corresponding to the proportional coefficient of the conventional fuzzy-PID controller is adjusted online through the design of an auxiliary fuzzy inference controller (AFIC)so as to intensify the effect of proportionality. By simulation, the anti-interference characteristic of the electrohydraulic control system was obtained when a sudden change of uncertain external load on the bucket happens, and the result also showed that the AFIC alleviates the effect of external load on the protruding velocity of piston rod and improves the time response.