挖掘机反铲铲斗电液比例位置控制器设计

摘要

Introduce excavator backhoe bucket electro-hydraulic proportional position closed-loop control system composition, carry out modeling and analyzing excavator backhoe bucket electro-hydraulic proportional position open-loop control system of generalized controlled object. Aiming at the nonlinear and big load variation features of excavator backhoe bucket electro-hydraulic proportional position control system, put forwards a method that nonlinear function to establish PID controller, and realize system position control. Carry out system simulation separately for electro-hydraulic proportional position control of traditional PID controller and non-linear PID controller. The simulation result shows that the use of nonlinear PID controller can improve the rapidity and reduce overshoot of the system. It also satisfies system design requirement.%介绍反铲铲斗电液比例位置全闭环控制系统的构成，对挖掘机反铲铲斗电液比例位置开环控制系统广义被控对象进行建模分析。针对挖掘机反铲铲斗电液比例位置控制系统非线性及负载变化大等特点，提出一种非线性函数构造PID控制器的方法，实现系统的位置控制。分别对传统PID控制器与非线性PID控制器的电液比例位置控制进行系统仿真，仿真结果表明：采用非线性PID控制器可提高速度，减小超调，满足系统设计要求。