Synchronization Control Of Excavation

This article through to this research institute's WS-005 excavator test platform excavation process automation, intellectualized research, research system's control synchronization method.This topic is a laboratory-carries on the excavator system by modern integration of machinery ideological remolding excavator laboratory bench project in electric control part to involve the induction motor part the related research work, and withdraws the control synchronization the plan. Is mainly the induction motor which uses for the laboratory bench in carries on the parameter survey as well as the speed control and so on, makes some essential preparations for the laboratory bench build, and studies the asynchronous machine in the movement process the load and the rotational speed relations, hoped that found the relation, thus was easy through the examination the electrical machinery rotational speed which obtained to achieve to the electrical machinery outside the load examination goal.The topic has the important use value and the significance.This article content has following several aspects:1.Uses the systems dynamics theory, establishes two motor-driven excavator system's dynamics model, the correct selective system partial perturbation quantity, the inferential reasoning delivers decides the pose and under the parameter of movement the systematic perturbation parameter micro minute equation.And the partial perturbation parameter's choice method is:Will request the synchronized parameter is multiplied by the different proportionality factor, causes its synchronized target to be equal,then carries on processing using the vibration synchronous system's partial parameter choice method; But seeks various synchronized parameter linear function expression time to enter the similar proportionality factor.2.Unify using the non-linear dynamics theory and the value simulation, the analysis assigns the pose and under the parameter of movement system's coupling dynamics characteristic, and gives the static dynamic coupling dynamics characteristic and the system parameters,the pose and the parameter of movement relations.3.Using the voltage synchronization coordinate system, establishes under the asynchronous motor frequency changer power supply condition the mathematical model,and infers assigns the operating point neighborhood the small parameter perturbation equation, take this as the basis research current phase,the peak-to-peak value and the frequency changer input with the outside load's dynamics characteristic's relations,then proposed that based on the electric current asynchronous electrically operated outside the aircraft load dynamics characteristic's identification algorithm,and confirms through the value simulation in the experiment.4.Extraction system's coupling dynamics characteristic, proposes the identification algorithm,and confirms through the simulation.5.The computer simulations are carried out to verify the results of the theoretical analysis afore-mentioned.