中国机械工程2012，Vol.23Issue(15)：1807-1810,4.
液压挖掘臂关节伺服系统非线性动态特征研究
Investigation of Nonlinear Dynamic Characteristics for Servo System of a Hydraulic Excavator Arm
摘要
Abstract
In order to analyze the joint--servo control system for an excavator arm, and improve its control property,a nonlinear model for the system based on theoretic analyses was constructed. The nonlinearities included dead band of the electro--hydraulic proportional valve, asymmetry dynamic characteristics of the valve--controlled asymmetric cylinder, nonlinear friction force of the cylinder, nonlinear spring force of the cylinder,and nonlinear dynamic model of the excavator arm. The nonlin- ear characteristics of the system were verified the nonlinear characteristics has bad influences a theoretic reference for the controller design. by experiments. Experimental results demonstrate all on the dynamic response of the system, thus it provides关键词
挖掘臂/电液伺服系统/阀控非对称液压缸/非线性Key words
excavator arm/electro-- hydraulic servo system/valve-- controlled asymmetric cylin-der/nonlinearity分类
建筑与水利引用本文复制引用
黎波,严骏,曾拥华,郭刚..液压挖掘臂关节伺服系统非线性动态特征研究[J].中国机械工程,2012,23(15):1807-1810,4.
