Điều khiển chuyển động của đầm tấm lắp trên máy xúc thủy lực theo quĩ đạo cho trước

NGHIEN CO'U - TRAO 06l

OliU KHI^N CHUY&N OONG COAOA M JAM LAP TREN MAY

XUC THOY LU'C THEO QUTOAO CHO TRU'O'C

CONTROLS TH E MOVEIMENT OF TH E PLATE COMPACTION MOUNTE D

O N THE HYDRAULIC EXCAVATOR IN A GIVEN TRAJECTORY

TS. L6 Trgng Cu-frng

Hgc vien Ky thuat Quan su

TOM TAT

Thiet bi dam tdm rung lap tren mdy xuc thuy luc duac su dung de thi cong cdc cong trinh

taluy duang, ba ho chua nuac, ba de song,...Khi dieu khien chuyen dgng cua dam tdm theo qui dao

cho truac, nguai ldi mdy phdi phoi hap ditng chuyen dong cua cdc khdu: Cdn, tay cdn vd ddm tdm,

do do hieu qud khai thdc sir dung mdy phu thugc nhieu vdo l^ ndng cua nguai ldi mdy. Dieu khien

chinh xdc dug'c qui dao chuyen dgng cda ddm chi khi gidi quyet tot bdi todn dgng hgc nguac, tren

ca sa ung dung ly thuyet ca hgc he nhieu vdt xdy dimg mo hinh khdo sdt dgng hgc cua mdy xuc co

lap ddm tdm, su dung ma trdn Jacobi de viit phuang trinh xdp xi tga do ddu ra, tie do xdy dung

thuat todn hgi tu t&i nghiim theo luac do sai phdn lui. Ket qud khdo sdt co the ldm ca sa de nghien

ciru diiu khien tu dgng qud trinh ldm viec cda mdy xdc.

Tir khoa: Dam tdm rung; Dieu khien chuyen dgng; Dgng hgc nguac.

Vibratory compacting plate equipment mounted on hydraulic excavators is used for the

construction of the road talus, lake waterside, river levees, etc. When controlling the motion of

a plate in the given trajectory, the operator must coordinate the correct movement of the boom,

stick, and compacting plate, so the operation efficiency of using the machine depends much on the

skills ofthe operator Accurate control ofthe trajectory ofthe movement ofthe compactor only

when solving reverse kinetics problem, based on application the mechanical theory of multi-body

model system to construct the kinetic model ofthe excavator with the plate. Use the Jacobi matrix

to write approximate equation for the output coordinates, using backward difference scheme to

build the algorithm converges to the solutions. Survey results can be used as a basis for the study of

automatic control of excavator s work processes.

Keywords: Vibratory compacting plate, motion control, reverse kinetics ^

ISSN 0866 - 7056

TAP CHi CO KHi VlfiT NAM, S6 6 nam 2017