Research On The Hydraulic Driving Control System Of The Manipulator Of A Logging Harvester

The research is one Part of the State Eleventh Five-year Scientific and Technological Support Project-The Research and Explore of the Multifullctional Key Teclmical Equipment on the Forest Harvesting and Cultivating Operation. Now there are many countries already have a large number of the multifunctional harvesting machinery, but there was not such harvesting maehinery in our country.With the socioeconomic is developmenting, more and more wood will be needed,but the existing cutting machinery and equipment in our country can't suit the demand.Abroad multifunctional logging harvester is not suit for our country's domestic wood Production,and it is so expensive;While in our country logging mechanization research relatively backward, in the late 1970s china had introduced four sets of delimber-bucker-harvester and feller-buncher, and the production experiment in the north and south forest, for a variety of reasons not see digest absorb, design, development and promotion use. Overall, there exists much difference the development of our country and abroad in logging harvester.By various aspects condition the influence, it haven't been used in the Chinese wood production. So the study team develops the first multifunctional logging harvester that is more suitable for the domestic forest harvesting operation. The multifunctional logging harvester is an intelligent equipment which concentrates the functions felling,declaiming,scaling,cross-cutting and so on.The development of the multifunctional logging harvester has certain significance to improve wood productivity and inducing labor intensity of woodworkers.In this paper,introduces the application and research status of logging harvester,and development actuality of the foreign hydraulic driving control system of the logging harvester of foreign several big companies.Kinematies the targets of robot joints felling the relation between the positions of rods, deduce about Jacobin matrix and the joint space, supplying bases for motion control system design of manipulator.In this paper, I take the manipulator of the logging harvester as researching object, design and anylyze the hydraulic driving control system of the manipulator of the logging harvester and apply to the method of emulation mode to analyze electrohydraulic proportional control system of the manipulator of the logging harvester. In this paper, the dynamic mathematical model of electro hydraulic proportional relief valve and the control functions of hydraulic system has been studied, the physical meaning of the system has been analyzed, the simplified mathematical model has established. Finally, the Matlab/Simulink simulation software has been used for the simulation analysis, the control system of the logging harvester has been analyzed. However, the design result of the method is a exploring of theory which certifying and rectifying by the accomplishment of the actual production.