Hydraulic Control Research of Working Device of Grab Arm Cleaning Machine for Heavy Load and Large Depth

Abstract

In this paper, a kind of heavy-duty and deep cleaning machine working device is studied. The closed-loop vector method is used to establish the kinematics model of the hydraulic cylinder rod mechanism, and the Lagrange dynamics is used to establish the dynamic model of working device. MATLAB, AMESim and ADAMS are used to provide excitation signal for the servo valve, build the hydraulic simulation model, and carry out kinematics and dynamics simulation. Using different signal excitation, the displacement tracking of the working device and the change of hydraulic pressure are observed. The results show that the closed-loop vector method and Lagrange dynamics are used to establish the kinematics and dynamics model of the working device, which facilitates the study of the working device of the cleaning machine; the simulation interface is stable, and the co-simulation of control arithmetic is achieved, hydraulic system and structural dynamics; the hydraulic pressure is obtained through the co-simulation analysis. The effect of cylinder displacement tracking and the change of hydraulic pressure provided the basis for working device design and optimization.