液压挖掘机自动控制系统的设计和实现

23620076TransactionsoftheCSAEVol.23No.6June20071,2,1,1(1.,130025;2.,223001):,WY1.5,,,,,:;;:TU621:A:100226819(2007)620140205,,.[J].,2007,23(6):140-144.ChangL,WangGuoqiang,HanYunwu.Designandrealizationofcomputercontrolledworkingdevicesystemforhydraulicexcavator[J].TransactionsoftheCSAE,2007,23(6):140-144.(inChinesewithEnglishabstract):2006205213:2006211206:(06KJD440026):(1971-),,,,,,223001Email:[e-mail]0,,,2080,,,,90,,,,,,,,,,,,,,,,,,211,WY1.5,,,,1WY1.5[1],(3Lömin8Lömin)13Lömin,,,1.1,,,,,123041()4,,,,,,,,,,;,;,,5,11Fig.1Electrohydraulicproportionalcontrollerofthehydraulicexcavator12,,1234,,,,,3()()()431.2[2],1236,3WE6A-61BöCG24N9Z5L;410,3WE10A-31BöCG24N9Z5L4WRE10E64-10Bö24Z4öM;4WRE6E20-10Bö24NZ4öM[3-8],[2]2INTERCONTROLE1,,,,,;;[9-11],,,15s;,2min,3,1416:,:()1,()1[2][12-14],1,,1;2,,1,1024V30W4,24V1.5A6,44;,6(PWM,)12412(PWM),,62.11,6,12PWM,31,1PWM1,22PWMFig.2JointsofPWMforelectromagneticproportionalvalve,6PWM366,,2112,112,16,7(),2,PWM,8,PWM72.2,,[15,16],()IEC61131,,,33Fig.3Autocontrolprocessfigureofthehydraulicexcavator:PWM,,,:=0,=1,=0(8),2412007:=0,=0=andPWM7=,()=0,()=032006312,,,O,,,,,,2min,12MPa24V,,PWM50Hz,01,,ö,,,,,1Table1OutputofexperimentaboutcontrolparametersofthreecylinderPWMuöVtös3508.34.52706.42.525064.5250642305.652305.66.54,,,,[][1].WY1.5[Z].[2].WY1.5[D].:,2006.[3],.[J].,2005,(4):44-45.[4],,,.[J].,2004,(1):63-65.[5],.[J].,2005,(9):28-30.[6].[M].:,1997:434-435.[7],,.PWM[J].(),2003,33(3):104-106.[8],,,.[J].,2004,(1):63-65.[9],,.IEC61131-3PLC[J].,2004,16(3):35-40.[10],,.[J].,2005,36(8):111-114.[11].[J].,2005,(10):45-50.[12],.[J].,2003,25(2):59-62.[13],.[J].,2003,34(5):40-42.[14],,,.PLC[J].,2003,(5):143-145.[15],,.[J].,2005,3(6):48-49.[16],,.CAN[J].,2003,30(9):4-7.3416:DesignandrealizationofcomputercontrolledworkingdevicesystemforhydraulicexcavatorChangL1,2,WangGuoqiang1,HanYunwu1(1.CollegeofMechanicalScienceandEngineeringJilinUniversity,Changchun130025,China;2.TrafficEngineeringDepartment,HuaiyinInstituteofTechnology,Huai’an223001,China)Abstract:Fromtheviewpointofimprovingautomatizationtomanipulatehydraulicexcavator,anewmanipulatingworkingdevicesystemforhydraulicexcavator,whichisbasedonmobilecontrollerofvehicle,wassuccessfullydeveloped,andmanualmanipulatingworkingdevicesystemforhydraulicexcavatorexisted.Atestwascarriedoutbasedonmobilecontrollerofvehiclebyprogramming,theresultsoftestdemonstratethatthenewmanipulat2ingworkingdevicesystemforhydraulicexcavator,whichiscontrolledbycomputerbasedonmobilecontrollerofvehicle,canperformthesamefunctionwithmanualmanipulatingworkingdevicesystemforhydraulicexcavatorsystem,andthecomputercontrolledmanipulatingworkingdevicesystemforhydraulicexcavatorisbetterrealized.Keywords:hydraulicexcavator;mobilecontrollerofvehicle;autocontrol4412007