挖掘机斗杆速度位置复合控制策略

随着工程机械智能化发展和作业质量要求的提高，工程机械的执行器不仅要满足输出力的要求，还要满足位置的要求。根据进出口独立控制和泵阀复合控制原理，提出一种挖掘机斗杆速度位置复合控制策略，使斗杆按照预期轨迹运行至目标位置。在一台采用进出口独立系统的6t挖掘机上建立实验平台进行试验研究，试验结果表明：提出的控制策略是可行的。本研究可以为工程机械的自动化运行提供一定的参考。

A combined control strategy of velocity and position for excavator arm

With the trend of intelligent mobile machine and the improvement of task quality requirements, each actuator of mobile machine should not only meet the velocity and output force characteristics but also the higher position accuracy during the operation. According to the principle of independent metering system and pump-valve hybrid control, a novel velocity and position combined control strategy is proposed for excavator arm, which is the typical hydraulic actuator. By using proposed strategy, the arm can move to target position along the designed trajectory and ensure the position accuracy. Then a test rig adopting the independent metering system is established on a 6t excavator. The test results show that the strategy is feasible. The research can provide some reference for automatic operation of excavator arm.