Synthesis of Controlling the Movement of Digging Mechanisms of Excavators on the Basis of Inverse Dynamic Problems

摘要

Using the example of a walking excavator ESh 20.90, the results of studies on the synthesis of an algorithm for controlling the movement of a digging mechanism are presented on the basis of solving inverse dynamic problems to a given type of desired motion. In contrast to the well-known works devoted to the synthesis of control systems for electric drives of digging mechanisms of excavators using rigid and flexible feedbacks on the load in the elastic element, the proposed algorithms are based on determining the required control actions by specifying the exponential law of the change in elastic deformation. It is shown that the control actions found in this way will not depend on the structure of the controller, as a result of which it becomes possible to solve the problem of structural synthesis of the motion control system of the excavator digging mechanism by expressing the obtained time dependences through the phase coordinates. The proposed algorithms can be used to select the most effective structure of the electric drive control system of the excavator. Their use will reduce the dynamic loads, the level of elastic oscillations, increase the efficiency, and reliability of excavators.