液压挖掘机的半自动控制系统外文翻译

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1、Semi-automaticcontrolsystemforhydraulicshovelAbstractAsemi-automaticcontrolsystemforahydraulicshovelhasbeendeveloped.Usingthissystem,unskilledoperatorscanoperateahydraulicshoveleasilyandaccurately.Amathematicalcontrolmodelofahydraulicshovelwithacontrollerwas

2、constructedandacontrolalgorithmwasdevelopedbysimulation.Thisalgorithmwasappliedtoahydraulicshovelanditseffectivenesswasevaluated.Highcontrolaccuracyandhigh-stabilityperformancewereachievedbyfeedbackplusfeedforwardcontrol,nonlinearcompensation,statefeedbackan

3、dgainschedulingaccordingtotheattitude.Keywords:Constructionmachinery;Hydraulicshovel;Feedforward;Statefeedback;Operation1.IntroductionAhydraulicshovelisaconstructionmachinerythatcanberegardedasalargearticulatedrobot.Diggingandloadingoperationsusingthismachin

4、erequireahighlevelofskill,andcauseconsiderablefatigueeveninskilledoperators.Ontheotherhand,operatorsgrowolder,andthenumberofskilledoperatorshasthusdecreased.Thesituationcallsforhydraulicshovels,whichcanbeoperatedeasilybyanypersonw1–5x.Thereasonswhyhydraulics

5、hovelrequiresahighlevelofskillareasfollows.1.Morethantwoleversmustbeoperatedsimultaneouslyandadjustedwellinsuchoperations.2.Thedirectionofleveroperationsisdifferentfromthatofashovel’sattachmentmovement.Forexample,inlevelcrowdingbyahydraulicshovel,wemustopera

6、tethreeleversŽarm,boom,bucket.simultaneouslytomovethetopofabucketalongalevelsurfaceŽFig.1..Inthiscase,theleveroperationindicatesthedirectionoftheactuator,butthisdirectiondiffersfromtheworkingdirection.Ifanoperatoruseonlyoneleverandotherfreedomsareoperatedaut

7、omatically,theoperationbecomesveryeasily.Wecallthissystemasemi-automaticcontrolsystem.Whenwedevelopthissemi-automaticcontrolsystem,thesetwotechnicalproblemsmustbesolved.1.Wemustuseordinarycontrolvalvesforautomaticcontrol.2.Wemustcompensatedynamiccharacterist

8、icsofahydraulicshoveltoimprovetheprecisionofcontrol.Fig.1.Levelcrowdingofanexcavatorandframemodelofanexcavator.Wehavedevelopedacontrolalgorithmtosolvethesetechnicalproblemsandconfirmtheeffectoft