Optimal control system and method for realizing instant excavation turning angle and excavation force of bucket

Abstract

The invention discloses an optimal control system for realizing instant excavation turning angle and excavation force of a bucket. The system comprises a connecting rod cylinder, a laser positioner, a boom cylinder travel displacement sensor, a bucket arm cylinder travel displacement sensor, a bucket cylinder travel displacement sensor, a connecting rod cylinder travel displacement sensor, a boom cylinder pressure sensor, a bucket arm cylinder pressure sensor, a bucket cylinder pressure sensor, a connecting rod cylinder pressure sensor, a programmable controller and an electro-hydraulic proportional valve controlling the connecting rod cylinder. The invention has the benefits that by adopting the connecting rod structure and the optimal control system, the excavation range can be expanded without influencing the excavation force, and the generality of connecting rod mechanisms of similar-tonnage excavators can be improved; and meanwhile, the length extension of the connecting rod is controlled by a optimal control program to realize optimal matching of the excavation angle and excavation force of the bucket, thus the bucket performs excavation work with the optimal angle and force, the loss of the bucket is reduced, and the excavation efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of excavator control, in particular to an optimal control system and method for realizing the instantaneous digging angle and digging force of a bucket. Background technique [0002] The hydraulic excavator is a kind of construction machinery widely used at present. Through the hydraulic control system, the stroke of the boom cylinder, stick cylinder and bucket cylinder can be changed, and the movement of the boom, stick and bucket can be controlled to complete the excavation and unloading of the working device. action. The four-bar linkage mechanism consisting of the arm, bucket, connecting rod and rocker at the front end of the working device forms a force transmission ratio, which will directly affect the excavation force. The above four parts are generally welded / cast parts with fixed length. When their structure After confirmation, the digging force and the angle of rotation of the bucket are completel...

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Problems solved by technology

[0003] Using the existing connecting rod with fixed welding / casting structure, the rotation angle of the bucket is generally about 180°. When there is a requirement for the digging height, it is hoped that the elevation angle of the bucket is larger. When other components remain unchanged, the length of the connecting rod However, in this way, the depression angle of the bucket must be reduced accordingly, which will have an adverse effect on the excavation full load rate of the bucket. Moreover, the instantaneous bucket rotation angle when the maximum digging force is generated is relatively raised, which is not conducive to the excavation of the rotating bucket. soil cutting

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