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 C O A O A M JAM LAP TREN MAY XUC THOY LU'C THEO QUTOAO CHO TRU'O'C C O N T R O L S T H E MOVEIMENT OF T H E PLATE COMPACTION M O U N T E D O N T H E H Y D R A U L I C E X C A V A T O R IN A G I V E N T R A J E C T O R Y 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 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 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 ddu ra, tie xdy dung thuat todn hgi tu t&i nghiim theo luac 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 nam 2017 ^ NGHIEN c u u - T R A O D I OAT VAN DE Khi di8u khi8n thi6t bj dam tam lap ti-en may xiic thuy luc chuyen dgng theo qui dao cho truoc, doi hoi nguoi lai may phai phoi hgp dung chuyen dong ciia cac khau: Can, tay can va dim tam Trong thuc te chi co the dieu khien dam chuyen dgng theo qui dao gan dung, vi vay hieu qua khai thac su dung may han che va phu thugc vao ky nang ciia nguoi lai may Dieu khien chinh xac dugc qui dao chuyen dgng ciia dam chi giai quyet tot bai toan dgng hgc ngugc Tren ca so do, c6 the dihi khien tu dgng qua trinh lam viec cua thiet bi dam tam lap tren may xiic thiiy luc M HINH DQNG HOC MAY XIIC THUY LUC L A P T H I E T BI DAM TAM Co he nhan dugc gom khau (hinh 1), lien ket voi boi cac khop quay t^i cac diSm Op, O,^, OJ va OJ, vi tri tuong d6i cua hai kh§u lien ke dugc xac dinh boi cac goc quay (Pp, (p,, (Pj, ipy De khao sat chuyen dgng cua 6ka tam mat phang thang dung, gin vao ccr he mgt he tga de cac co dinh O^ {x^,y^^z^] co goc tai tam khop quay san quay Tai cac diSm lien ket giua cac khau va tam mat dam tim gdn cac he tga dgng 0,{X|,yj,z,}, Oj{Xj,yj,2j}, 0^{Kyy^,Zj} va 0^{x^,y^,z^} Vi tri ciia mfii khSu dugc xac dinh boi thong so: x, y, z, va (p^ Quy dao chuyen dgng cua dam tam hoan toan xay dung dugc neu xac dinh dugc thfing so goc quay: %, .V 1^ Hinh Md hinh khdo sdi dpng hoc a trang thdt ldm viec Hinh Mo hinh khdo sdt dpng hpc tuang d a trang thdi ldm viic DONG HQC NGU*OC MAY XIIC THUY L i r e LAP THIET BI DAM TAM Trong he tga goc, vj tri ciia tam mat dam tam dugc xac dinh theo phuang hinh: Pipcy) = / ( K ) ; Bai toan d6ng hgc ngugc xac dinh cac gia tri cp da biet truoc qui dao chuyen dgng ciia dSm tSm, tiic la P{x,y) da biet, noi each khac can phai tim nghiem ciia phuong trinh: K ^ f~^iP(-x.y)); Do phuong ti-inh phi tuyen nen khong the giai true tiep Be giai dugc can phai tuy^n tinh hoa cac phan tii phi tuyfin ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, S6 nam 2017 www.cokhiviptnnm NGHIEN CU'U - TRAO DOI Ax^J.A(p; (3) = + -^t Trong do; J- Ma trSn Jacobi ciia d^o ham rieng cac goc quay 30 y = -t ' dx /= dx dx (4) dipQ dQ d2 S^>2 dy dy dy dy (6) ' (5) Trong do: y+.y = / De giai bai toan su dung phuang phap dich chuyen vi phan, gia thiet cac chuyen dgng la rSt nho nham tuyen tinh hoa cac dai lugng sieu viet bang each xap xi chiing vai gia tri thyc ham Cau tnic giai thuat nhu sau: Ax^G-P; Tinh J; J^=r.{J.rO-'; Chia nho Ax l{I-J.J^ ).Axl>Z; (Pj= ! i- i I i S" 0* -: i i : Cac kfit qua tinh toan tren thi cho thay, voi qui dao chuyfin dgng cua ban dSmvil goc nghieng mat dam biet truac, thi hoan toan CO the xac dinh dugc sy thay doi luu lugng dSu cac xy lanh thuy lyc din dgng TBCT Dieu cho phep xay dyng bp thong so dieu khifin d6ng thai cac xy lanh thuy lyc din dpng TBCT theo qui dao dam cho trudc l J-^" i-^-^-p ; ^ ^-^_^ rr{ ^ ; Hinh 6: Chuyen vi ciia cdc xy lanh thiiy luc KET LUAN Xay dyng dugc mo hinh khao sat va thifit lap phuang trinh toan hgc mo ta chuyfin vi cua cac khau, khap Su dung phuong phap dich chuyen vi phan va ma tr|n Jacobi de giai bai toan Xac dinh dugc su thay doi luu lugng ddu cua cac xy lanh thiiy luc, tu c6 the dieu khien dong thoi cac xy lanh thuy lyc din dfing dam tam chuyfin dgng theo quy dao va goc nghieng cho truoc Kfit qua khao sat co the lam ca so de nghien cuu difiu khien tu dpng qua trmh lam vific Clia may xiic thuy luc lap thiet bi dam tam.