摘要
为了解决机器人化悬臂式掘进机行走控制问题,在对该掘进机液压行走驱动系统的工作原理分析的基础上,建立了该系统的数学模型。该数学模型悬臂式掘进机行走驱动系统中电液比例方向阀的电压与阀芯位移关系式和流量方程、液压马达的流量与扭矩方程、比例方向阀的阀芯位移与液压马达角速度关系方程以及方向阀的输入电压与液压马达角速度的传递函数。仿真实验结果表明,所建立数学模型与实际基本吻合,为机器人化悬臂式掘进机性能分析和控制系统设计提供了实用的数学模型。
In order to solve the control problem of robot roadheader,and analyze the principles of the hydrostatic driving system for the boring machine,the paper established a mathematical model of the system.The mathematical model includs the relationship between voltage and spool displacement of proportional directional valve,the flow equation,the flow of hydraulic motor torque equation,the equation of proportional directional valve spool displacement and angular velocity of the hydraulic motor,and transfer function of input voltage of proportional directional valve and angular velocity of hydraulic motor.Simulation results show that the mathematical model is consistent with the actual,and provides a useful model for the robotic roadheader performance analysis and control system design.
出处
《计算机仿真》
CSCD
北大核心
2012年第3期33-36,共4页
Computer Simulation
