| Hydraulic static pile driver is a pile-driving machine which can push the prefabricated pile into the foundation stably,quietly and quickly using strong static pressure generated by high pressure oil. A self-leveling control system which can achieve accurate horizontality and rapidly elevating of the body platform of hydraulic static pile driver is the key to improve the work efficiency and strengthen the quality of the pile-forming. In order to achieve the aim for automatic self-leveling in driving side pile, this paper has discussed the self-leveling control system in driving side pile of pile driver. Based on the above, the dynamic mathematical model of self-leveling control system in driving side pile of pile driver is established to simulate the side pile control, and the simulation results prove the exactness of the control strategy.Firstly, the control object of the self-leveling control system in driving side pile and the basic principle of the hydraulic system are introduced. And through analyzing the posture of the body platform of the pile driver, a control strategy about self-leveling control system is formed.Secondly, based on the characteristics of modeling of hydraulic platform system, and with the aid of MATLAB/Simulink, the mathematical model of self-leveling control system in driving side pile composed of mechanical hydraulic control system and control system are established.Thirdly, in order to eliminate the influence of the structure interference force and loading interference force, this control strategy of self-leveling control system in driving side pile of pile driver is analyzed, the structure interference force is eliminated through adopting the feedback controller. State observer predicting the interference force in real time is used to eliminate the effects of loading interference. Simulations of the control process show the control strategy is rational in self-leveling control system in driving side pile. |
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