Question

机械专业外语翻译求助！！急！！！

2 Test hydraulic excavator

The test hydraulic excavator has an operating weight of 4,500 kg. The dimension of the front working arms, boom, arm and bucket, are described in Fig. 1. The test excavator is driven by a two-circuit hydraulic system, namely the boom; the bucket and the left side travel are driven by one pump; arm, swing of upper wagon and the right side travel are driven by the other pump. The main valves are controlled by the pilot valves via mechanical joysticks. Such mechanically actuated hydraulic systems to implement robotic excavators are not suitable for the object of this research, therefore,the hydraulic systems have to first be rebuilt. For that,the electronic pressure control (EPC) valves replace the mechanically actuated pilot valves. The new hydraulic system is shown in Fig. 2. In order to improve the valve’s response, a position sensor is mounted on the main valve spool and a digital PID valve controller in the control PC is used to achieve an inner closed loop spool position control.
Figure 3 shows the test results of the spool response of the new valve system with PID spool displacement control. Figure 3a shows the frequency response where the 3dB frequency bandwidth of the new valve system is about 20 Hz. The hysteresis is tested and shown in Fig. 3b. It is verified that the new valve system has about 20 Hz bandwidth and good linearity. The new hydraulic valve systems play key roles for implementing path tracking control on the large hydraulic manipulator.
To implement path tracking control on hydraulic excavators, the three front working devices, the boom, arm and bucket, have to be controlled at the same time. Therefore the test excavator is fitted with six EPC-valves working as pilot stages, three angular sensors at the three joints for tracking control of the boom, arm and bucket, and eight pressure sensors for measuring the pressure variation on the cylinders and pumps.Three position sensors with PID controller are also used to improve the response of the valve systems. The A/D D/A interface cards are also necessary for the PC-based control system.
Figure 4 indicates the block diagram of the overall front tracking control system on the test excavator, which is realised in this article by way of three MRAC path tracking controllers and three PID valve control- lers. The set profiles of each controlled working arm are calculated and given by the path generator.

Answer 1

液压挖掘机2测试

测试液压挖掘机的重量都有一个操作4500公斤。前面的尺寸工作武器,繁荣,手臂和桶,介绍图一。测试挖掘机端由一个two-circuit液压系统,即繁荣;桶,左边一泵的驱使下,旅行,手臂,旋启式上马车,右边旅行被其他泵。主阀控制通过机械操纵杆飞行员阀门。这样的机械驱动液压系统实施机器人挖掘机不符合本研究的对象,因此,液压系统必须首先被建造。这一点,电子压力控制(EPC)阀取代机械驱动飞行员阀门。新液压系统被显示在图2。为了提高阀门的反应,一种位置传感器安装在主要阀芯和数字PID控制阀门节流PC是用来达到一种内在的闭环芯位置控制。
图3显示测试结果的新阀芯响应的位移控制系统与PID芯。图3一场表演在频3dB频率的新阀系统带宽约20赫兹。测试和应变。”奥多姆说。列图。仿真结果表明,新阀系统大约有20赫兹带宽和良好的线性关系。新液压阀系统实施中扮演关键性的角色轨迹跟踪控制液压机械臂大。
实施轨迹跟踪控制液压挖掘机,这三个前工作装置、繁荣,手臂和水桶,必须能够控制在同一时间内。因此测试挖掘机装有6 EPC-valves工作为先导阶段,三个角度传感器,在三个关节为跟踪控制的繁荣,手臂和水桶,8压力传感器测量压强的变化,汽缸和泵三个位置传感器与PID控制也被用来提高系统的响应速度阀门系统。A / D D / A接口卡片也必需的基于pc机控制系统。
图4显示的总体框图前在测试跟踪控制系统,实现挖掘机在这篇文章里通过三个模型参考自适应控制的轨迹跟踪控制器和三个PID阀控制- lers。各被控的侧面的计算工作臂给在路旁的发电机。