遥控装载机电液操纵系统的设计与研究

【作者】 徐建华；

【导师】 谭建平； 张卫东；

【作者基本信息】 中南大学 ， 机械设计及理论， 2003， 硕士

【摘要】 目前国内装载机的运行需要较多的人工操作控制，严重制约了其各项技术性能和功能的发展和提高，使得操纵者劳动强度大，作业效率和作业质量完全依赖于操纵者个人技术水平的发挥情况；并且制约着人类向核污染等恶劣的领域发展；随着科技的发展与社会的进步，装载机遥控化、机器人化成为了未来的发展方向。然而，目前装载机液压系统的控制精度完全依赖于普通手控阀的通断时间，通过操作工人观察装载机动作效果来实现反馈，造成系统的控制精度低，无法满足其遥控、自主控制的要求，因而研究和设计能够满足遥控、自主控制要求的电液系统的意义非常重大，也可为类似工程机械的遥控化、自动化改造提供参考依据。本文从现代机电液一体化产品的设计理论出发，结合遥控装载机电液操纵系统这一实例，开展了以下研究和设计工作： (1) 根据一般装载机作业指令的要求，提出遥控变量，规划出整个无线电遥控系统的总体结构及其功能，设计出基于CANopen总线协议的遥控器与控制器之间的通讯程序。 (2) 在分析多种方案优缺点的基础上，提出用比例流量阀／比例减压阀控制主油路上换向阀阀芯的开口度，用普通电磁换向阀控制主油路上换向阀阀芯的运动方向的遥控装载机电液比例控制系统的设计方案；并成功地运用于ZL50遥控装载机电液系统设计中。 (3) 在建立多路阀的静态模型以及分析多路阀的静态特性、电液比例阀的静态特性的基础上，建立了多路阀与电液比例先导阀之间的匹配关系，为类似工程机械先导控制下电液系统设计提供参考依据； (4) 为了满足装载机的智能铲装要求，以ZL50装载机工作装置为对象，建立遥控装载机电液操纵系统的数学模型，并对其进行了仿真研究，仿真结果表明：该系统响应速度较快，负载抗干扰能力较强，稳定好，能够满足装载机的遥控和局部自主控制的要求；更多还原

【Abstract】 At present, the homemade Loader is manipulated by manual work, which will baffle the development of its function and capability badly, and lead to heavy labor, working efficiency and quality depending on the manipulator’s technology, it is prevented from working in the polluted fields by nucleus. At the same time, with the development of society, science and technology, the robotic and remote-control Loader become the research topic. However, the control accuracy of Loader’s hydraulic system depend on the ON-OFF time of the common valve, the feedback come from worker observing the loader’s motion. It lead to the lower control accuracy, and it can’t fulfill the need of the robotic and remote control, so the research and design on electronic-hydraulic system fulfilling the need of self-determination control and remote control will become important, and it will provide the reference for robotic and remote-control engineering machinery, too. According to the example of designing the electro-hydraulic system for remote-control Loader, the dissertation will develop the research and design as represent followed using the designing theory of the latter-day mechatronic product:(1) According to the require of working command for common loader, the remote-control variable is represented, the framework of radio remote-control system is built, the function is expressed. At the same time, the program for communication based on CANopen protocol between remote-control equipment and controller is worked out.(2) After analyzing the virtue and flaw of kinds designing, the dissertation select the method for the electro-hydraulic proportional control system of the remote-control Loader where the proportional fluid valve or the proportional reducing-pressure valve control hatch of the multi-spool valve and the common electromagnetic change-direction valve control the direction of the spool of the multi-spool valve . Furthermore , it is used to the type ZL50 remote- control Loader successfully.(3) After establishing the static model of the multi-spool valve and analyzing the static properties of multi-spool valve and electro-hydraulic proportional valve, the rule representing the matching relation between multi-spool valve and electro-hydraulic proportional valve is found. It will provide the reference for the design of electro-hydraulic system of similarity engineering machinery under control of pilot valve.(4) In order to fulfill the need of intelligent loading ,the type ZL50 Loader equipment is selected as the research object, the mathematic model of radio remote-control Loader’s electro-hydraulic proportional control system is established and its dynamic properties is analyzed by the software named MATLAB .The result prove that the system has quick response and good anti-jamming capacity, its stability is good ,too. The system can fulfill the need on remote-control function and self-determination control function.更多还原