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双三角钻臂具有结构紧凑、运行平稳、凿岩无盲区等优点 ,被凿岩机器人所采用 .为了控制钻臂 ,对轨迹进行跟踪和精确定位 ,要求建立钻臂及其液压系统的数学模型 .然而 ,该系统十分复杂 ,具有非线性和快时变的特点 ,要建立其精确的模型很困难 ,也没有必要 .作者从液压系统的流量方程、连续性方程和力平衡方程入手 ,对双三角钻臂及其液压驱动系统机理建模 .在建模过程中 ,忽略一些对模型精度影响不大的次要因素 ,获得了系统的简化模型 .通过对钻臂的结构和受力进行分析 ,导出了模型中的参数、液压缸负载力的估算公式和估算方法 ,为实现钻臂的轨迹跟踪和精确定位控制打下了基础
Double triangle drilling boom has the advantages of compact structure, stable operation and no blind spot of rock drilling, which is adopted by rock drilling robots.In order to control the boom, track and accurately locate the trajectory, it is required to establish the mathematical model of boom and its hydraulic system. However, the system is very complicated, non-linear and time-varying, so it is difficult or not necessary to establish its precise model.From the hydraulic system’s flow equation, continuity equation and force balance equation, Drilling boom and its hydraulic driving system mechanism modeling.In the modeling process, some minor factors that have little effect on model accuracy are ignored and a simplified model of the system is obtained.By analyzing the structure and force of the boom, The parameters of the model, the formula for calculating the load capacity of the hydraulic cylinder and the estimation method have laid a foundation for tracking control and precise positioning of the boom.