Dissertation > Industrial Technology > Building Science > Construction machinery and equipment > Earthwork machinery, mining machinery > Excavator

Research on the Theories and Simulation of Excavation Track Control for Electric Excavator

Author MaShunLi
Tutor ZhaoChunYu
School Northeastern University
Course Mechanical and Electronic Engineering
Keywords electric excavator controlled synchronization frequency control PID control computer simulation
Type Master's thesis
Year 2009
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In this paper, we make researches on the automation and intelligentizing of the electric excavator’s(WS—005) digging process, in order to research system’s controlled synchronization method. In multi-drive system, because of complex of the mechanical structure, the factors that affect the system are much more. If the synchronization of different motors drive is assured, the right control strategy is chosen, to overcome a variety of system disturbances and impact, and make the system to drive with synchronization index. The aim of this paper is making two motors to achieve synchronous operation, and making an excavator to work in the best operating conditions through the frequency control technology of asynchronous motor and the use of digital PID to control the two motors. The excavator control system test-bed is built for future experimental research to lay a solid foundation through the study of the subject. The issue has important practical value and engineering significance, and this article contains the following aspects:(1) The mathematical model of asynchronous motor, whose transducer is under power supply condition, is established and the small parameter perturbation equation in neighborhood of the given point is inferred by using the voltage synchronization coordinate system. The asynchronous motor is controlled with frequency conversion and the numerical simulation is processed.(2) The trajectory planning process of excavation is got, according to operating characteristics of mechanical engineering. The dynamic model of excavator is established, according to the establishment of the robot model and analysis of the structure of an excavator and movement.(3) The mathematical model of asynchronous motor’s local little perturbation parameter and the transfer function of the local little perturbation parameter are inferred by using coupling dynamics theorem and adopting dynamics analyzed methods of the local little perturbation parameter.(4) The stability condition of controlled synchronization is inferred and the digital PID controller is designed by using Routh-Hurwitz theorem. The system simulation of digital PID control is processed and simulation results are analyzed.(5) The system of excavator intelligent trajectory control consists of hardware part and software part. The hardware part contains mainly two parts:control and inspection. The software part based on Delphi platform includes hardware monitoring, control and optimization.

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