Dynamics Analysis and Fuzzy Control for the Working Device of Hydraulic Excavator

Abstract

The Kane-Huston is adopted in this paper to build the topological structure for the working device of hydraulic excavator. And the virtual prototyping model of the working device is built by the virtual prototype analysis software. Through analysis of the mechanical properties of working device on real working condition and comparing the inverse dynamics gotten by the Kane-Huston with that gotten by the virtual prototype model in software, the correctness of the dynamic equations from the Kane-Huston is verified. Finally, fuzzy control method is used for the optimization of bucket tip trajectory and it has good control effect in the software simulation environment.

Dynamic Analysis of Working Device of Excavator under Limit Digging Force

“…Xie et al [9] use the modal reduction method to flexible the arm and rod, and solve the dynamic stress of the working device and the load of the hydraulic cylinder based on the rigid-flexible coupling model of the excavator. Lv et al [10] use the Kane-Huston structure to construct the topology of the working device of the hydraulic excavator, and use the fuzzy control method to optimize the bucket tip trajectory. Huang et al [11] make a transient analysis of the structural strength of the arm and rod based on the rigid-flexible coupling model of the working device considering the dynamic characteristics of the operation.…”

Design and Simulation of Liftable Crawler Chassis for Combine Harvester

“…In the ADAMS multi-body dynamics study, the established 3D model is imported into the software, and the dynamic characteristics of the working mechanism are analyzed by given mechanism parameters [13] [14]. Imanish and others obtained some deformation characteristics of the working device through the dynamic simulation of the working process of the excavator, and also verified the superiority of the dynamic simulation analysis method in the structural design of the excavator [15].…”

Research on the Influence of the Size Change of Hydraulic Excavator’s Working Mechanism on the Working Performance

“…是土石高效率挖掘的重要设备 [1] 。工作装置是挖掘 作业的执行部件，其各构件尺寸设计的是否合理， 直接影响着挖掘机作业性能的发挥。挖掘力大小、 工作姿态及挖掘范围是评价液压挖掘机作业性能的 主要指标，其中不同工况下的工作姿态数据是评价 挖掘机稳定性的重要依据 [2][3] 。陈进等 [4][5] 提出基于 作业路径的液压挖掘机挖掘性能分析新方法，在模 型中抽取适当的机构尺寸作为优化变量，对挖掘机 的工作装置进行机构优化；在挖掘性能的图谱叠加 分析法中，划分其主要的挖掘区域，并对主要挖掘 区域的图谱进行分析研究。张明珍等 [6] 利用挖掘性 能云图分析方法以云图的形式给出了液压挖掘机理 论挖掘力的计算数据，使工作装置结构设计更加合 理，提高了整机的可靠性。CHEN 等 [7] 提出了动态 拓扑多作用力微粒群算法，可解决实践中复杂的 优化问题，对挖掘机优化方面有很大帮助。ZHAO 等 [8] 实现了人-椅-驾驶室系统的协同优化， 对车辆相 关性能的改善提供了参考。工作装置仿真方面实现 运动学与动力学分析相结合，建立相应模型并将模 糊控制用于铲斗齿尖轨迹的优化 [9][10][11] 。近几年在改 善挖掘机性能方面出现了一些研究方法，改善挖掘 机回转系统流量控制、多工作点的动态控制策略及 势能回收的控制方案，使系统达到更好的稳定性和 更高的燃油效率，对液压系统的监测来实现对挖掘 性能的改进 [12][13][14][15] 。韩涛等 [16] 应用 Matlab 软件中的 SimMechanics，介绍一种快速得到挖掘机挖掘包络 图的方法，方便了对于包络图的进一步研究。丁华 锋等 [17] 提出了一种适合于正铲挖掘机的新型多连 杆机构，应用 D-H 法进行运动学分析，并通过绘制 包络图来验证运动学模型的正确性。PATEL 等 [18] 对斗杆和动臂的链接的外形尺寸进行微小的改变， [19][20] 0 1 1max 2 1max 2 max 3 1max 2 max 3max 0 1 1max 2 1max 2 max 3 1max 2 max 3max cos cos( ) …”