Dynamic Analyses And Control System Design For A New-type Face-shovel Excavator

With the rapid development of the national economy in recent years, the numbers of road transport projects, water conservancy and hydropower project construction investments are increasing, which are inseparable from the support of construction machinery. Therefore, the demand for large hydraulic shovel is more urgent, and the study of excavators automation and intelligent control technology is getting more and more attention. However, research data concerning hydraulic shovel technology in China is relatively scarce and simple type of mining institutions, coupled with the long-term monopoly of foreign Excavator, which are a serious impediment to the development of China excavator industry. This paper presents a novel hydraulic shovel work means the institutional configuration of the innovative, and conducts the following research areas about the new mining equipment.Based on the kinematic chain loop theory, this paper establishes a new hydraulic excavator running school model, and does kinematic model simulation analysis and verification work.Using Lagrange equation and moment balance principle to establish a new relationship between the agency and the joint torque of the driving force, thereby establishing a dynamic model and analyzing the driving force curve process three hydraulic cylinders for excavators by Matlab simulation.Make the three-dimensional model in SolidWorks institutions into the dynamic analysis software ADAMS to build the virtual prototype model of the new body, and conduct the dynamic simulation analysis and verification on the Kinetic Model.Finally, the new hydraulic excavator boom, arm, bucket control system modeling are set up, and there is a comparison of the simulation analysis of the control system in response to the effect of the PID controller when is added before and after, as well as complete the bucket trajectory tracking control simulation research.